{"id":"https://openalex.org/W7161248743","doi":"https://doi.org/10.1109/access.2026.3693875","title":"Anticipating Human Hand Grasps for Enhanced Interaction: A Bayesian Approach to Negative Latency in Human\u2013Machine Interfaces","display_name":"Anticipating Human Hand Grasps for Enhanced Interaction: A Bayesian Approach to Negative Latency in Human\u2013Machine Interfaces","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7161248743","doi":"https://doi.org/10.1109/access.2026.3693875"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3693875","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3693875","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3693875","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036527523","display_name":"Jonas Schulz","orcid":"https://orcid.org/0009-0006-6226-4847"},"institutions":[{"id":"https://openalex.org/I4210093367","display_name":"Deutsche Telekom (Germany)","ror":"https://ror.org/00m8prc86","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210093367"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jonas Schulz","raw_affiliation_strings":["Deutsche Telekom Chair of Communication Networks, Technische Universit&#x00E4;t Dresden, Dresden, Germany"],"raw_orcid":"https://orcid.org/0009-0006-6226-4847","affiliations":[{"raw_affiliation_string":"Deutsche Telekom Chair of Communication Networks, Technische Universit&#x00E4;t Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I4210093367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118965553","display_name":"Frederic Benken","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093367","display_name":"Deutsche Telekom (Germany)","ror":"https://ror.org/00m8prc86","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210093367"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frederic Benken","raw_affiliation_strings":["Deutsche Telekom Chair of Communication Networks, Technische Universit&#x00E4;t Dresden, Dresden, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deutsche Telekom Chair of Communication Networks, Technische Universit&#x00E4;t Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I4210093367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075182910","display_name":"Evelyn Muschter","orcid":"https://orcid.org/0000-0001-6870-5224"},"institutions":[{"id":"https://openalex.org/I78650965","display_name":"Technische Universit\u00e4t Dresden","ror":"https://ror.org/042aqky30","country_code":"DE","type":"education","lineage":["https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Evelyn Muschter","raw_affiliation_strings":["Junior Research Group Human Perception and Action in Technology, Technische Universit&#x00E4;t Dresden, Dresden, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6870-5224","affiliations":[{"raw_affiliation_string":"Junior Research Group Human Perception and Action in Technology, Technische Universit&#x00E4;t Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I78650965"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062422672","display_name":"Patrick Seeling","orcid":"https://orcid.org/0000-0003-2770-0675"},"institutions":[{"id":"https://openalex.org/I1629065","display_name":"Central Michigan University","ror":"https://ror.org/02xawj266","country_code":"US","type":"education","lineage":["https://openalex.org/I1629065"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Seeling","raw_affiliation_strings":["Department of Computer Science, Central Michigan University, Mount Pleasant, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-2770-0675","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Central Michigan University, Mount Pleasant, MI, USA","institution_ids":["https://openalex.org/I1629065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136200951","display_name":"Stefanie Speidel","orcid":"https://orcid.org/0000-0002-4590-1908"},"institutions":[{"id":"https://openalex.org/I4210111460","display_name":"National Center for Tumor Diseases","ror":"https://ror.org/01txwsw02","country_code":"DE","type":"funder","lineage":["https://openalex.org/I4210111460"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefanie Speidel","raw_affiliation_strings":["Department of Translational Surgical Oncology, National Center for Tumor Diseases NCT/UCC Dresden, Technische Universit&#x00E4;t Dresden, Dresden, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4590-1908","affiliations":[{"raw_affiliation_string":"Department of Translational Surgical Oncology, National Center for Tumor Diseases NCT/UCC Dresden, Technische Universit&#x00E4;t Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I4210111460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136205600","display_name":"Frank H. P. Fitzek","orcid":"https://orcid.org/0000-0001-8469-9573"},"institutions":[{"id":"https://openalex.org/I4210093367","display_name":"Deutsche Telekom (Germany)","ror":"https://ror.org/00m8prc86","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210093367"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank H. P. Fitzek","raw_affiliation_strings":["Deutsche Telekom Chair of Communication Networks, Technische Universit&#x00E4;t Dresden, Dresden, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8469-9573","affiliations":[{"raw_affiliation_string":"Deutsche Telekom Chair of Communication Networks, Technische Universit&#x00E4;t Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I4210093367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103281379","display_name":"Dar\u00edo Cuevas Rivera","orcid":"https://orcid.org/0000-0003-0516-5210"},"institutions":[{"id":"https://openalex.org/I78650965","display_name":"Technische Universit\u00e4t Dresden","ror":"https://ror.org/042aqky30","country_code":"DE","type":"education","lineage":["https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dario Cuevas Rivera","raw_affiliation_strings":["Chair of Cognitive Computational Neuroscience, Technische Universit&#x00E4;t Dresden, Dresden, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0516-5210","affiliations":[{"raw_affiliation_string":"Chair of Cognitive Computational Neuroscience, Technische Universit&#x00E4;t Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I78650965"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5036527523"],"corresponding_institution_ids":["https://openalex.org/I4210093367"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.87936741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"77381","last_page":"77400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11800","display_name":"User Authentication and Security Systems","score":0.19280000030994415,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11800","display_name":"User Authentication and Security Systems","score":0.19280000030994415,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.14100000262260437,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.10670000314712524,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.6093999743461609},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.527999997138977},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.3458000123500824},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3260999917984009},{"id":"https://openalex.org/keywords/bayesian-inference","display_name":"Bayesian inference","score":0.3093000054359436},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.305400013923645},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.301800012588501}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7563999891281128},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.6093999743461609},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5478000044822693},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.527999997138977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4205000102519989},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.3458000123500824},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3260999917984009},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.3093000054359436},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.301800012588501},{"id":"https://openalex.org/C82142266","wikidata":"https://www.wikidata.org/wiki/Q3456604","display_name":"Dynamic Bayesian network","level":3,"score":0.27970001101493835},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C28901747","wikidata":"https://www.wikidata.org/wiki/Q177571","display_name":"Decision theory","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26170000433921814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2556999921798706},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2526000142097473},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3693875","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3693875","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:38a9484a4a1d4f00a850f522455212e6","is_oa":true,"landing_page_url":"https://doaj.org/article/38a9484a4a1d4f00a850f522455212e6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 77381-77400 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3693875","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3693875","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1375572575","display_name":null,"funder_award_id":"390696704","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G4407328535","display_name":null,"funder_award_id":"57616814","funder_id":"https://openalex.org/F8431318309","funder_display_name":"German Academic Exchange Service"},{"id":"https://openalex.org/G640099598","display_name":null,"funder_award_id":"16KISK001K","funder_id":"https://openalex.org/F4320323015","funder_display_name":"Bundesministerium f\u00fcr Forschung und Technologie"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320323015","display_name":"Bundesministerium f\u00fcr Forschung und Technologie","ror":"https://ror.org/04pz7b180"},{"id":"https://openalex.org/F8431318309","display_name":"German Academic Exchange Service","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Human\u2013machine":[0],"interfaces":[1],"increasingly":[2],"rely":[3],"on":[4,75],"hand":[5,51,62],"gesture":[6,23,101,141],"recognition":[7,24],"to":[8,36,53,134],"enable":[9],"intuitive":[10],"interaction":[11],"in":[12,161],"immersive":[13,168],"technologies":[14],"and":[15,29,159,170],"robotic":[16,171],"systems.":[17,172],"However,":[18],"the":[19,76,97,107],"inherent":[20],"latency":[21],"of":[22,79,85,113,164],"pipelines,":[25],"exacerbated":[26],"by":[27],"computational":[28],"network":[30],"delays,":[31],"remains":[32],"a":[33,45,83,100,110,118,162],"major":[34],"obstacle":[35],"seamless":[37],"real-time":[38],"interaction.":[39],"In":[40],"this":[41],"work,":[42],"we":[43,137],"introduce":[44],"lightweight,":[46],"Bayesian":[47],"model":[48,108,126],"that":[49,99,124,139],"leverages":[50],"kinematics":[52],"predict":[54],"target":[55],"gestures":[56,63,129],"before":[57,64],"their":[58],"completion,":[59],"thereby":[60],"recognizing":[61],"they":[65],"are":[66],"completed":[67],"(i.e.":[68],"negative":[69],"latency).":[70],"Our":[71,121],"approach":[72],"is":[73,143],"based":[74],"continuous":[77],"updating":[78],"posterior":[80],"beliefs":[81],"over":[82],"set":[84],"internal":[86],"models,":[87],"each":[88],"with":[89,117,145],"its":[90],"gesture-specific":[91],"dynamical":[92],"system.":[93],"These":[94,149],"posteriors":[95],"represent":[96],"probability":[98],"will":[102],"be":[103],"performed.":[104],"We":[105],"validate":[106],"using":[109],"novel":[111],"dataset":[112],"reach-to-grasp":[114],"tasks":[115],"recorded":[116],"sensor":[119,147],"glove.":[120],"results":[122],"show":[123,138],"our":[125],"consistently":[127],"predicts":[128],"several":[130],"hundred":[131],"milliseconds":[132],"prior":[133],"completion.":[135],"Furthermore,":[136],"reliable":[140],"prediction":[142],"achievable":[144],"reduced":[146],"dimensionality.":[148],"findings":[150],"illustrate":[151],"how":[152],"anticipatory":[153],"computing":[154],"can":[155],"substantially":[156],"improve":[157],"responsiveness":[158],"naturalness":[160],"range":[163],"latency-sensitive":[165],"applications,":[166],"including":[167],"environments":[169]},"counts_by_year":[],"updated_date":"2026-05-31T08:46:17.908082","created_date":"2026-05-16T00:00:00"}
