{"id":"https://openalex.org/W2591728396","doi":"https://doi.org/10.1109/aucc.2016.7867926","title":"Nonlinear observer based control design for an under-actuated compliant robotic hand","display_name":"Nonlinear observer based control design for an under-actuated compliant robotic hand","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2591728396","doi":"https://doi.org/10.1109/aucc.2016.7867926","mag":"2591728396"},"language":"en","primary_location":{"id":"doi:10.1109/aucc.2016.7867926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aucc.2016.7867926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 Australian Control Conference (AuCC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018289771","display_name":"Ricardo Garcia-Rosas","orcid":"https://orcid.org/0000-0002-4833-2464"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ricardo Garcia-Rosas","raw_affiliation_strings":["University of Melbourne, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079406214","display_name":"Jhon Manuel Portella Delgado","orcid":"https://orcid.org/0000-0003-2778-686X"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jhon M. Portella-Delgado","raw_affiliation_strings":["University of Melbourne, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078570390","display_name":"Ying Tan","orcid":"https://orcid.org/0000-0001-8495-0246"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ying Tan","raw_affiliation_strings":["University of Melbourne, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035230630","display_name":"Dragan Ne\u0161i\u0107","orcid":"https://orcid.org/0000-0001-7944-0241"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dragan Nesic","raw_affiliation_strings":["University of Melbourne, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":null,"first_page":"21","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7659828662872314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7307907342910767},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6362314820289612},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6081675291061401},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5994805693626404},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5923057794570923},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5599293112754822},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5338674187660217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5272639989852905},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4870370030403137},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4132267236709595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3131922483444214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2545744776725769},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23886212706565857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18768763542175293},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08670708537101746}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7659828662872314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7307907342910767},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6362314820289612},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6081675291061401},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5994805693626404},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5923057794570923},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5599293112754822},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5338674187660217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5272639989852905},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4870370030403137},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4132267236709595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3131922483444214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2545744776725769},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23886212706565857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18768763542175293},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08670708537101746},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aucc.2016.7867926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aucc.2016.7867926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 Australian Control Conference (AuCC)","raw_type":"proceedings-article"},{"id":"mag:2794884483","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/201702242708950375","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W60768693","https://openalex.org/W194456869","https://openalex.org/W1555431109","https://openalex.org/W1564897360","https://openalex.org/W1983855682","https://openalex.org/W2002337864","https://openalex.org/W2009674435","https://openalex.org/W2077959880","https://openalex.org/W2082723833","https://openalex.org/W2109643917","https://openalex.org/W2122379726","https://openalex.org/W2148247550","https://openalex.org/W2154513594","https://openalex.org/W2155337985","https://openalex.org/W2261257082","https://openalex.org/W2416254177","https://openalex.org/W3143403821","https://openalex.org/W3196167895","https://openalex.org/W4210660029","https://openalex.org/W4248816015","https://openalex.org/W6716503989"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2324418439","https://openalex.org/W2157487448","https://openalex.org/W2387707337","https://openalex.org/W4200004409","https://openalex.org/W2078568084","https://openalex.org/W2790201508"],"abstract_inverted_index":{"This":[0,54,104],"work":[1,55],"aims":[2],"at":[3],"designing":[4],"control":[5,39,149],"algorithms":[6],"for":[7,37,112,147],"an":[8,24],"under-actuated":[9,127],"compliant":[10,70,128],"adaptive":[11,71,129],"prosthetic":[12,72,130],"hand":[13,73],"to":[14,46,50,58,67,74,81,89,93,158,170],"perform":[15,51],"a":[16,41],"complex":[17,52],"task":[18],"of":[19,23,63,65,84,98,125,135,145,166,174,176],"grasping":[20],"and":[21,115,138],"manipulating":[22],"unknown":[25],"object.":[26],"As":[27],"multiple":[28],"objectives":[29],"are":[30],"considered,":[31],"if":[32],"one":[33,38],"controller":[34,43,87,137,162],"is":[35,44,157],"designed":[36],"objective,":[40],"hybrid":[42,77],"needed":[45,123],"coordinate":[47],"different":[48],"controllers":[49,111],"tasks.":[53],"thus":[56],"tries":[57],"apply":[59,82,171],"recently":[60],"developed":[61],"framework":[62,173],"System":[64,83,175],"Funnels":[66],"the":[68,91,122,126,172],"underactuated":[69],"design":[75,159],"this":[76],"controller.":[78],"In":[79],"order":[80,169],"Funnels,":[85],"each":[86,148],"has":[88],"have":[90],"flexibility":[92],"obtain":[94],"any":[95,142],"given":[96],"domain":[97,144,165],"attraction":[99,146,167],"by":[100],"tuning":[101,133],"its":[102],"parameters.":[103],"paper":[105],"proposed":[106],"nonlinear":[107,119,139],"observer":[108,120],"based":[109],"PID":[110,136],"Grasp":[113,116],"Approach":[114],"Stabilization.":[117],"The":[118],"estimates":[121],"velocity":[124],"hand.":[131],"By":[132],"parameters":[134],"observers":[140],"appropriately,":[141],"desired":[143],"objective":[150],"can":[151],"be":[152],"achieved.":[153],"Our":[154],"next":[155],"step":[156],"some":[160],"manipulation":[161],"with":[163],"adjustable":[164],"in":[168],"Funnels.":[177]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
