{"id":"https://openalex.org/W7118605448","doi":"https://doi.org/10.1109/indin64977.2025.11279611","title":"A Soft Fin-Ray Gripper with Force-Position Hybrid PID Control","display_name":"A Soft Fin-Ray Gripper with Force-Position Hybrid PID Control","publication_year":2025,"publication_date":"2025-07-12","ids":{"openalex":"https://openalex.org/W7118605448","doi":"https://doi.org/10.1109/indin64977.2025.11279611"},"language":null,"primary_location":{"id":"doi:10.1109/indin64977.2025.11279611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin64977.2025.11279611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 23rd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},"type":"article","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":null,"display_name":"Zijian Mei","orcid":null},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijian Mei","raw_affiliation_strings":["Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122086391","display_name":"Runchen Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runchen Jiang","raw_affiliation_strings":["Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112397356","display_name":"Yuang Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuang Lu","raw_affiliation_strings":["Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lei Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Yu","raw_affiliation_strings":["Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122247426","display_name":"Yuqing Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqing Chen","raw_affiliation_strings":["Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong-Liverpool University,School of Advanced Technology,China","institution_ids":["https://openalex.org/I69356397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I69356397"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51338368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9217000007629395,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9217000007629395,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.052799999713897705,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.002400000113993883,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8582000136375427},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5813000202178955},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5169000029563904},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.48410001397132874},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.45829999446868896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4090000092983246},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.39890000224113464},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3528999984264374},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.3506999909877777},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.34450000524520874}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8582000136375427},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5813000202178955},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5169000029563904},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.48410001397132874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47859999537467957},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.45829999446868896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44699999690055847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4424000084400177},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4090000092983246},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.39890000224113464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3528999984264374},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.32359999418258667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32010000944137573},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.31610000133514404},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3111000061035156},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.30799999833106995},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3021000027656555},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2948000133037567},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2824999988079071},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.27160000801086426},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.2563000023365021},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C2777380305","wikidata":"https://www.wikidata.org/wiki/Q211500","display_name":"Pneumatics","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/indin64977.2025.11279611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin64977.2025.11279611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 23rd International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4701344072818756,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2016958754","https://openalex.org/W2171130677","https://openalex.org/W2551680314","https://openalex.org/W2623551786","https://openalex.org/W2625731136","https://openalex.org/W2898915881","https://openalex.org/W2970521931","https://openalex.org/W3136130311","https://openalex.org/W3171031826","https://openalex.org/W4226035577","https://openalex.org/W4240172577","https://openalex.org/W4386531676","https://openalex.org/W4386869592","https://openalex.org/W4394564282","https://openalex.org/W4400681134","https://openalex.org/W4400877891","https://openalex.org/W4401692369","https://openalex.org/W4402218049","https://openalex.org/W4405785265"],"related_works":[],"abstract_inverted_index":{"Soft":[0],"grippers,":[1],"characterized":[2],"by":[3,74],"their":[4,37],"compliant":[5],"and":[6,18,32,69,99,104,114,121,128,144,155],"adaptable":[7],"structures,":[8,77],"are":[9],"increasingly":[10],"utilized":[11],"in":[12,39,140],"industries":[13],"such":[14],"as":[15],"food":[16],"handling":[17],"electronics":[19],"assembly.":[20],"However,":[21],"the":[22,65,78],"controllers":[23],"designed":[24,62],"for":[25,84],"soft":[26],"grippers":[27],"often":[28],"lack":[29],"high-precision":[30],"feedback":[31],"real-time":[33,115],"dynamic":[34],"adaptability,":[35],"limiting":[36],"performance":[38,139],"tasks":[40],"requiring":[41],"speed,":[42],"force":[43,120],"accuracy,":[44],"or":[45],"complex":[46],"interaction":[47],"with":[48,58,92,152],"unpredictable":[49],"environments.":[50],"This":[51],"paper":[52],"presents":[53],"a":[54,89,134],"bio-inspired":[55],"fin-ray":[56],"gripper":[57,79,156],"force-position":[59],"hybrid":[60],"control,":[61,151],"to":[63,95,124,148],"enhance":[64],"grasping":[66,86,141],"of":[67],"delicate":[68],"irregularly":[70],"shaped":[71],"objects.":[72],"Inspired":[73],"fish":[75],"fin":[76],"utilizes":[80],"TPU":[81],"95A":[82],"material":[83],"its":[85],"end,":[87],"featuring":[88],"trapezoidal":[90],"geometry":[91],"transverse":[93],"notches":[94],"increase":[96],"contact":[97],"area":[98],"friction,":[100],"thereby":[101],"improving":[102],"adaptability":[103],"stability.":[105],"An":[106],"adaptive":[107],"PID":[108],"controller,":[109],"incorporating":[110],"just-in-time":[111],"learning":[112],"(JITL)":[113],"sensor":[116],"feedback,":[117],"dynamically":[118],"adjusts":[119],"position":[122,150],"parameters":[123],"prevent":[125],"excessive":[126],"deformation":[127],"ensure":[129],"safety.":[130],"Experimental":[131],"validation":[132],"on":[133],"robotic":[135],"arm":[136],"demonstrates":[137],"superior":[138],"fragile,":[142],"soft,":[143],"rigid":[145],"objects":[146],"compared":[147],"traditional":[149],"reduced":[153],"object":[154],"deformation.":[157]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-01-08T00:00:00"}