{"id":"https://openalex.org/W3006936931","doi":"https://doi.org/10.1109/lra.2020.2974439","title":"Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction","display_name":"Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction","publication_year":2020,"publication_date":"2020-02-18","ids":{"openalex":"https://openalex.org/W3006936931","doi":"https://doi.org/10.1109/lra.2020.2974439","mag":"3006936931"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2974439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2974439","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/195051395/Force_guided_High_precisio_WEN_DOA31012020_AFV.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017005508","display_name":"Ruoshi Wen","orcid":"https://orcid.org/0000-0001-7717-4584"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruoshi Wen","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7717-4584","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006409524","display_name":"Kai Yuan","orcid":"https://orcid.org/0000-0002-2349-4192"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kai Yuan","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2349-4192","affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055119440","display_name":"Qiang Wang","orcid":"https://orcid.org/0000-0002-9654-0268"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Wang","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9654-0268","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004106768","display_name":"Shuai Heng","orcid":"https://orcid.org/0000-0001-5329-1823"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Heng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6357-7419","affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.417,"has_fulltext":true,"cited_by_count":44,"citation_normalized_percentile":{"value":0.92669587,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"2762","last_page":"2769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994999766349792,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6396591067314148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6125679612159729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5696520805358887},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.548984706401825},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.505889356136322},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.49480170011520386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4780481457710266},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4267643690109253},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33313724398612976},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15405049920082092}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6396591067314148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6125679612159729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5696520805358887},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.548984706401825},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.505889356136322},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.49480170011520386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4780481457710266},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4267643690109253},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33313724398612976},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15405049920082092},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":3,"locations":[{"id":"doi:10.1109/lra.2020.2974439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2974439","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/184a00a1-bb85-440f-bfe9-bd2645e1cf77","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/184a00a1-bb85-440f-bfe9-bd2645e1cf77","pdf_url":"https://www.research.ed.ac.uk/files/195051395/Force_guided_High_precisio_WEN_DOA31012020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen, R, Yuan, K, Wang, Q, Heng, S & Li, Z 2020, 'Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2762-2769. https://doi.org/10.1109/LRA.2020.2974439","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/184a00a1-bb85-440f-bfe9-bd2645e1cf77","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/184a00a1-bb85-440f-bfe9-bd2645e1cf77","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen, R, Yuan, K, Wang, Q, Heng, S & Li, Z 2020, 'Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2762-2769. https://doi.org/10.1109/LRA.2020.2974439","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/184a00a1-bb85-440f-bfe9-bd2645e1cf77","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/184a00a1-bb85-440f-bfe9-bd2645e1cf77","pdf_url":"https://www.research.ed.ac.uk/files/195051395/Force_guided_High_precisio_WEN_DOA31012020_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wen, R, Yuan, K, Wang, Q, Heng, S & Li, Z 2020, 'Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2762-2769. https://doi.org/10.1109/LRA.2020.2974439","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3047845980","display_name":null,"funder_award_id":"61876054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3006936931.pdf","grobid_xml":"https://content.openalex.org/works/W3006936931.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W602250485","https://openalex.org/W1211526673","https://openalex.org/W1637889662","https://openalex.org/W1808788800","https://openalex.org/W2025943982","https://openalex.org/W2064173399","https://openalex.org/W2109790581","https://openalex.org/W2127828969","https://openalex.org/W2516753435","https://openalex.org/W2542262075","https://openalex.org/W2735636344","https://openalex.org/W2784648116","https://openalex.org/W2790738248","https://openalex.org/W2885414200","https://openalex.org/W2898675172","https://openalex.org/W2900419434","https://openalex.org/W2911379339","https://openalex.org/W2944234098","https://openalex.org/W2972733542","https://openalex.org/W3159651955","https://openalex.org/W6676276689"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2148001919","https://openalex.org/W1926827207","https://openalex.org/W2133659289"],"abstract_inverted_index":{"Regulating":[0],"contact":[1,28],"forces":[2,29],"with":[3],"high":[4,85],"precision":[5],"is":[6],"crucial":[7],"for":[8,30],"grasping":[9],"and":[10,33,41,83,127,144],"manipulating":[11],"fragile":[12,143],"or":[13,159],"deformable":[14,128,145],"objects.":[15,129],"We":[16,44,63,130],"aim":[17],"to":[18,25,73,124],"utilize":[19],"the":[20,27,49,75,79,95,119,132,135],"dexterity":[21],"of":[22,52,134,141,151],"human":[23,35,100],"hands":[24,32],"regulate":[26],"robotic":[31],"exploit":[34],"sensory-motor":[36],"synergies":[37],"in":[38],"a":[39,65,70,104,139],"wearable":[40],"non-invasive":[42],"way.":[43],"extracted":[45],"force":[46,77,96,109,122],"information":[47],"from":[48,78,99,147],"electric":[50],"activities":[51],"skeletal":[53],"muscles":[54],"during":[55],"their":[56],"voluntary":[57],"contractions":[58],"through":[59],"surface":[60],"electromyography":[61],"(sEMG).":[62],"built":[64],"regression":[66],"model":[67],"based":[68],"on":[69,94,138],"Neural":[71],"Network":[72],"predict":[74],"gripping":[76,121],"preprocessed":[80],"sEMG":[81],"signals":[82],"achieved":[84],"accuracy":[86],"(R":[87],"<sup":[88],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[89],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[90],"=":[91],"0.982).":[92],"Based":[93],"command":[97],"predicted":[98,120],"muscles,":[101],"we":[102],"developed":[103],"force-guided":[105],"control":[106,110],"framework,":[107],"where":[108],"was":[111],"realized":[112],"via":[113],"an":[114],"admittance":[115],"controller":[116],"that":[117],"tracked":[118],"reference":[123],"grasp":[125],"delicate":[126],"demonstrated":[131],"effectiveness":[133],"proposed":[136],"method":[137],"set":[140],"representative":[142],"objects":[146],"daily":[148],"life,":[149],"all":[150],"which":[152],"were":[153],"successfully":[154],"grasped":[155],"without":[156],"any":[157],"damage":[158],"deformation.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}