{"id":"https://openalex.org/W4404307334","doi":"https://doi.org/10.1109/lra.2024.3497726","title":"Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control","display_name":"Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control","publication_year":2024,"publication_date":"2024-11-13","ids":{"openalex":"https://openalex.org/W4404307334","doi":"https://doi.org/10.1109/lra.2024.3497726"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3497726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3497726","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081980119","display_name":"Shunsuke Tokiwa","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Tokiwa","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0009-0006-7426-0552","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061020240","display_name":"Hikaru Arita","orcid":"https://orcid.org/0000-0003-4953-2553"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Arita","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4953-2553","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Ishikawa, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6862-9719","affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Ishikawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010975613","display_name":"Kenji Tahara","orcid":"https://orcid.org/0000-0003-4457-7867"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Tahara","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4457-7867","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8443,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.77483412,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"9","issue":"12","first_page":"11633","last_page":"11640"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.6470999717712402,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.6470999717712402,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.6128000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.6746454834938049},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5640522837638855},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5003876686096191},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.473849356174469},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4588814675807953},{"id":"https://openalex.org/keywords/impact","display_name":"Impact","score":0.41590583324432373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24926909804344177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22889679670333862},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12765058875083923},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12002420425415039},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11267876625061035}],"concepts":[{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.6746454834938049},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5640522837638855},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5003876686096191},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.473849356174469},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4588814675807953},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.41590583324432373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24926909804344177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22889679670333862},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12765058875083923},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12002420425415039},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11267876625061035},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3497726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3497726","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G992235946","display_name":"Design and Control Theory of Soft Robotics with Integrated Soft-Rigid Structures for Achieving Desired Motions","funder_award_id":"24H00726","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1589501040","https://openalex.org/W1975537977","https://openalex.org/W2033167899","https://openalex.org/W2033671976","https://openalex.org/W2108227326","https://openalex.org/W2111186375","https://openalex.org/W2131294801","https://openalex.org/W2149286243","https://openalex.org/W2213646491","https://openalex.org/W2908719061","https://openalex.org/W2909215892","https://openalex.org/W2976065698","https://openalex.org/W3138748647","https://openalex.org/W3193486241","https://openalex.org/W3207351740","https://openalex.org/W4205996330","https://openalex.org/W4226413077","https://openalex.org/W4285792015","https://openalex.org/W4290098481","https://openalex.org/W4311980902","https://openalex.org/W4313429295","https://openalex.org/W4382751696","https://openalex.org/W4387448076","https://openalex.org/W4391677965"],"related_works":["https://openalex.org/W2315566320","https://openalex.org/W2738245003","https://openalex.org/W4388486299","https://openalex.org/W2146509461","https://openalex.org/W2086010129","https://openalex.org/W2952162973","https://openalex.org/W2265497555","https://openalex.org/W1525506373","https://openalex.org/W4242705565","https://openalex.org/W3137362624"],"abstract_inverted_index":{"Grasping":[0],"an":[1,61],"unknown":[2,62],"object":[3,14],"is":[4,32,89,140],"difficult":[5],"for":[6],"robot":[7],"hands.":[8],"When":[9],"the":[10,13,21,28,43,144,151],"characteristics":[11],"of":[12,46,60,86,116,132,146],"are":[15,30],"unknown,":[16],"knowing":[17],"how":[18],"to":[19,26,41,123,160],"plan":[20],"speed":[22],"at":[23],"and":[24,52,108],"width":[25],"which":[27,56,77,119,142],"fingers":[29,138],"narrowed":[31],"difficult.":[33],"In":[34,126],"this":[35,66,87,127],"letter,":[36,128],"we":[37],"propose":[38],"a":[39,69,81,113,129,158],"method":[40,159],"realize":[42],"three":[44],"functions":[45,92],"simultaneous":[47,147],"finger":[48],"contact,":[49],"impact":[50,106],"reduction,":[51],"contact":[53,109,148],"force":[54,110],"control,":[55,76,111],"enable":[57],"effective":[58],"grasping":[59,163],"object.":[63],"We":[64],"accomplish":[65],"by":[67,164],"using":[68,165],"control":[70,88,98,118],"framework":[71],"called":[72],"multiple":[73,91,137],"virtual":[74,133],"dynamics-based":[75],"was":[78,120],"proposed":[79],"in":[80],"previous":[82,101],"study.":[83],"The":[84,100],"advantage":[85],"that":[90,135],"can":[93],"be":[94],"realized":[95],"without":[96,149],"switching":[97],"laws.":[99],"study":[102],"achieved":[103],"two":[104,114,153],"functions,":[105],"reduction":[107],"with":[112],"layers":[115],"impedance":[117],"applied":[121],"independently":[122],"individual":[124],"fingers.":[125],"new":[130],"idea":[131],"dynamics":[134],"treats":[136],"comprehensively":[139],"introduced,":[141],"enables":[143],"function":[145],"compromising":[150],"other":[152],"functions.":[154],"This":[155],"research":[156],"provides":[157],"achieve":[161],"delicate":[162],"proximity":[166],"sensors.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}