# Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information

arXiv: https://arxiv.org/abs/2310.06424 · HTML: https://mlsanity.com/paper/2310.06424/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Oct 2023.

## Built on by (most cited first, 3 of 3)

- [Automating Deformable Gasket Assembly](https://mlsanity.com/paper/2408.12593/) (2024)
- [Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction](https://mlsanity.com/paper/2505.13889/) (2025)
- [CaRoBio: 3D Cable Routing with a Bio-inspired Gripper Fingernail](https://mlsanity.com/paper/2508.09558/) (2025)

## Abstract (arXiv)

Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind manipulation by keeping the object under tension. Further, an online model estimation procedure is also proposed. A set of elementary sliding and clipping manipulation primitives are defined based on our model. The combination of these primitives allows for more complex motions such as winding of a DLO. The model estimation and manipulation primitives are tested individually but also together in a real-world cable harness production task, using a dual-arm YuMi, thus demonstrating that force-based perception can be sufficient even for such a complex scenario.