{"id":"https://openalex.org/W7084622503","doi":"https://doi.org/10.1109/lra.2025.3617725","title":"IPAS: A Compact Multi-Channel Pneumatic System With Embedded Hierarchical Control for Soft Dexterous Hands","display_name":"IPAS: A Compact Multi-Channel Pneumatic System With Embedded Hierarchical Control for Soft Dexterous Hands","publication_year":2025,"publication_date":"2025-10-03","ids":{"openalex":"https://openalex.org/W7084622503","doi":"https://doi.org/10.1109/lra.2025.3617725"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3617725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3617725","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":null,"display_name":"Kehan Ding","orcid":"https://orcid.org/0009-0003-3928-5816"},"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":true,"raw_author_name":"Kehan Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0003-3928-5816","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":"middle","author":{"id":null,"display_name":"Ruichen Zhen","orcid":"https://orcid.org/0000-0002-1212-6538"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruichen Zhen","raw_affiliation_strings":["Meituan Academy of Robotics Shenzhen, Meituan, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-1212-6538","affiliations":[{"raw_affiliation_string":"Meituan Academy of Robotics Shenzhen, Meituan, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhengchen Li","orcid":"https://orcid.org/0009-0000-3420-9345"},"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":"Zhengchen Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0000-3420-9345","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":"middle","author":{"id":null,"display_name":"Bangchu Yang","orcid":"https://orcid.org/0000-0002-9969-9995"},"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":"Bangchu Yang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9969-9995","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":"middle","author":{"id":null,"display_name":"Ming Cheng","orcid":"https://orcid.org/0000-0002-7067-5666"},"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":"Ming Cheng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7067-5666","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":null,"display_name":"Li Jiang","orcid":"https://orcid.org/0000-0003-1740-5525"},"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":"Li Jiang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-1740-5525","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57722598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11800","last_page":"11807"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T13490","display_name":"Aquatic Ecosystems and Biodiversity","score":0.5080999732017517,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13490","display_name":"Aquatic Ecosystems and Biodiversity","score":0.5080999732017517,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12701","display_name":"Biological Control of Invasive Species","score":0.0851999968290329,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11624","display_name":"Constructed Wetlands for Wastewater Treatment","score":0.04129999876022339,"subfield":{"id":"https://openalex.org/subfields/2311","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8260999917984009},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7839000225067139},{"id":"https://openalex.org/keywords/pneumatic-flow-control","display_name":"Pneumatic flow control","score":0.5698999762535095},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.546500027179718},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5117999911308289},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5110999941825867},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.510200023651123},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5097000002861023},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.3955000042915344}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8260999917984009},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7839000225067139},{"id":"https://openalex.org/C103578843","wikidata":"https://www.wikidata.org/wiki/Q1816388","display_name":"Pneumatic flow control","level":2,"score":0.5698999762535095},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.546500027179718},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5110999941825867},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.510200023651123},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5097000002861023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48019999265670776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4560999870300293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4122999906539917},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3955000042915344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37380000948905945},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35910001397132874},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.35089999437332153},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34549999237060547},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32519999146461487},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.30979999899864197},{"id":"https://openalex.org/C2781153586","wikidata":"https://www.wikidata.org/wiki/Q7241717","display_name":"Pressure control","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.301800012588501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.2924000024795532},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.2883000075817108},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.26570001244544983},{"id":"https://openalex.org/C20556612","wikidata":"https://www.wikidata.org/wiki/Q4469374","display_name":"Volume (thermodynamics)","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.2549000084400177},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3617725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3617725","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":[],"awards":[{"id":"https://openalex.org/G3454411838","display_name":null,"funder_award_id":"T2388101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7784560737","display_name":null,"funder_award_id":"52305299","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8965705428","display_name":null,"funder_award_id":"91948302","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2773908039","https://openalex.org/W2825265278","https://openalex.org/W2943200793","https://openalex.org/W2964507111","https://openalex.org/W3028813881","https://openalex.org/W3041885040","https://openalex.org/W3043159383","https://openalex.org/W3125605919","https://openalex.org/W3127525943","https://openalex.org/W3134373680","https://openalex.org/W3138732012","https://openalex.org/W4200310671","https://openalex.org/W4200542765","https://openalex.org/W4225138739","https://openalex.org/W4226301680","https://openalex.org/W4307851006","https://openalex.org/W4312422148","https://openalex.org/W4313185738","https://openalex.org/W4382657775","https://openalex.org/W4389127909","https://openalex.org/W4390969020","https://openalex.org/W4391994216","https://openalex.org/W4392904740","https://openalex.org/W4399114467","https://openalex.org/W4403390473"],"related_works":[],"abstract_inverted_index":{"Pneumatically":[0],"actuated":[1,8],"soft":[2,58,186],"dexterous":[3,59,187],"hands,":[4],"featuring":[5],"multiple":[6],"independently":[7],"degrees":[9],"of":[10,126,136,166],"freedom":[11],"(DoFs),":[12],"are":[13,27],"increasingly":[14],"employed":[15],"as":[16],"robotic":[17,87],"end-effectors":[18],"for":[19,50,185],"versatile":[20],"manipulation":[21,191],"tasks.":[22],"However,":[23],"current":[24],"pneumatic":[25],"systems":[26],"typically":[28],"bulky":[29],"with":[30,115],"limited":[31],"system-level":[32],"integration.":[33],"They":[34],"rely":[35],"on":[36,85],"centralized":[37],"architectures":[38],"where":[39],"a":[40,86,95,116,181],"single":[41],"processor":[42],"handles":[43],"all":[44],"control":[45,113,142,172,189],"tasks":[46],"and":[47,123,129,143,159,171,177,190],"lack":[48],"support":[49],"large-scale":[51],"multi-channel":[52,151],"control,":[53,127],"limiting":[54],"their":[55],"applicability":[56],"to":[57,90],"hands.":[60],"To":[61],"address":[62],"these":[63],"challenges,":[64],"we":[65],"present":[66],"an":[67],"Integrated":[68],"Pneumatic":[69],"Actuation":[70],"System":[71],"(IPAS)":[72],"that":[73],"integrates":[74],"20":[75],"independent":[76],"channels":[77],"within":[78],"the":[79,121,167],"wrist":[80],"space,":[81],"enabling":[82],"direct":[83],"deployment":[84],"arm.":[88],"Compared":[89],"state-of-the-art":[91],"systems,":[92],"IPAS":[93,168],"achieves":[94],"67<inline-formula":[96],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[97],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[98],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[99],"increase":[100],"in":[101,139,146],"channel":[102],"count":[103],"while":[104],"reducing":[105],"system":[106],"volume":[107],"by":[108],"two-thirds.":[109],"An":[110],"embedded":[111],"hierarchical":[112],"architecture":[114],"modular":[117,164],"hardware-software":[118,183],"design":[119,165],"enables":[120],"coordinated":[122],"parallel":[124],"execution":[125],"sensing,":[128],"valve":[130,169],"actuation.":[131],"Experimental":[132],"results":[133],"demonstrate":[134],"RMSEs":[135],"0.3":[137],"kPa":[138,145],"steady-state":[140],"pressure":[141,147],"1.8":[144],"trajectory":[148],"tracking.":[149],"The":[150,163],"actuation":[152],"capability":[153],"is":[154],"further":[155],"validated":[156],"through":[157],"teleoperated":[158],"autonomous":[160],"grasping":[161],"experiments.":[162],"array":[170],"units":[173],"ensures":[174],"maintainability,":[175],"scalability,":[176],"algorithmic":[178],"flexibility,":[179],"providing":[180],"general-purpose":[182],"platform":[184],"hand":[188],"research.":[192]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}