{"id":"https://openalex.org/W7131082783","doi":"https://doi.org/10.1109/robio66223.2025.11377493","title":"Multi-Finger Collaborative Grasping Control for Prosthetic Hands Using Proximity Sensors","display_name":"Multi-Finger Collaborative Grasping Control for Prosthetic Hands Using Proximity Sensors","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131082783","doi":"https://doi.org/10.1109/robio66223.2025.11377493"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"https://openalex.org/A5126606974","display_name":"Hongjian Tan","orcid":null},"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":"Hongjian Tan","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090756597","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":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023291947","display_name":"Z.\u2010S. LI","orcid":null},"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":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yinhao Huang","orcid":null},"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":"Yinhao Huang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103228908","display_name":"Liping Jiang","orcid":"https://orcid.org/0000-0003-4579-728X"},"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":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5126606974"],"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":0.60586851,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1479","last_page":"1484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.2612000107765198,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.2612000107765198,"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":0.25609999895095825,"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":0.13429999351501465,"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":0.8240000009536743},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5759000182151794},{"id":"https://openalex.org/keywords/equidistant","display_name":"Equidistant","score":0.5475999712944031},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.545199990272522},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5175999999046326},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5130000114440918},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5077999830245972},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4812999963760376},{"id":"https://openalex.org/keywords/prosthetic-hand","display_name":"Prosthetic hand","score":0.4803999960422516},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.46709999442100525}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8240000009536743},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5759000182151794},{"id":"https://openalex.org/C158245278","wikidata":"https://www.wikidata.org/wiki/Q4386982","display_name":"Equidistant","level":2,"score":0.5475999712944031},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.545199990272522},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5175999999046326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5163000226020813},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5130000114440918},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5077999830245972},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4812999963760376},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.46709999442100525},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44020000100135803},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42910000681877136},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4284000098705292},{"id":"https://openalex.org/C65155139","wikidata":"https://www.wikidata.org/wiki/Q5380912","display_name":"Envelope (radar)","level":3,"score":0.4165000021457672},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.40950000286102295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40540000796318054},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.37279999256134033},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3668000102043152},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3458000123500824},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.3353999853134155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33090001344680786},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3107999861240387},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3034999966621399},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.3012999892234802},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2858999967575073},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2687999904155731},{"id":"https://openalex.org/C2779019669","wikidata":"https://www.wikidata.org/wiki/Q25203946","display_name":"Asynchrony (computer programming)","level":3,"score":0.266400009393692},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2614000141620636}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2197217918","https://openalex.org/W2213646491","https://openalex.org/W2216377025","https://openalex.org/W2908719061","https://openalex.org/W2922660011","https://openalex.org/W2941842768","https://openalex.org/W3005841711","https://openalex.org/W3006069825","https://openalex.org/W3008066039","https://openalex.org/W3044310553","https://openalex.org/W3109142808","https://openalex.org/W3110918660","https://openalex.org/W3124450572","https://openalex.org/W3130281589","https://openalex.org/W3138748647","https://openalex.org/W3180157047"],"related_works":[],"abstract_inverted_index":{"Traditional":[0],"prosthetic":[1,124,162],"hand":[2,125],"grasping":[3,163],"often":[4],"relies":[5],"on":[6,51,105,121],"pre-programmed":[7],"trajectories":[8],"due":[9],"to":[10,17,72,81,89],"the":[11,82,109,155],"lack":[12],"of":[13,161],"non-contact":[14],"perception,":[15],"leading":[16],"asynchronous":[18],"finger":[19,70,74],"contact,":[20],"object":[21],"displacement,":[22],"and":[23,30,147,158],"instability.":[24],"To":[25],"achieve":[26],"synchronous":[27],"multi-finger":[28,144],"contact":[29],"adaptive":[31,128],"pre-shaping,":[32],"this":[33],"paper":[34],"presents":[35],"a":[36,122],"hierarchical":[37],"control":[38,92],"strategy":[39],"driven":[40],"by":[41],"fingertip":[42,53],"proximity":[43],"sensing.":[44],"We":[45],"integrate":[46],"miniature":[47],"reflective":[48],"light-intensity":[49],"sensors":[50],"each":[52],"for":[54,130],"real-time":[55],"distance":[56],"measurement.":[57],"The":[58],"core":[59],"innovations":[60],"include:":[61],"A":[62],"master-slave":[63],"phase":[64],"compensation":[65],"architecture":[66],"featuring":[67],"dynamic":[68],"master":[69],"election":[71],"coordinate":[73],"movements":[75],"towards":[76],"an":[77,106],"equidistant":[78],"plane":[79],"relative":[80],"target":[83],"object;":[84],"Lyapunov":[85],"stability-based":[86],"anti-disturbance":[87],"allocation":[88],"dynamically":[90],"redistribute":[91],"effort":[93],"among":[94],"fingers":[95],"when":[96],"disturbances":[97],"occur,":[98],"maintaining":[99],"grasp":[100,140],"envelope":[101],"stability.":[102],"Implemented":[103],"solely":[104],"embedded":[107],"microcontroller,":[108],"system":[110],"requires":[111],"no":[112],"complex":[113],"external":[114],"computation":[115],"or":[116],"electromyographic":[117],"signals.":[118],"Experimental":[119],"validation":[120],"5-DOF":[123],"demonstrates":[126],"successful":[127],"pre-shaping":[129],"various":[131],"objects.":[132],"Results":[133],"show":[134],"high":[135],"positional":[136],"accuracy,":[137],"significantly":[138,153],"improved":[139],"success":[141],"rate,":[142],"minimal":[143],"synchronization":[145],"error,":[146],"robust":[148],"disturbance":[149],"rejection.":[150],"This":[151],"approach":[152],"enhances":[154],"continuity,":[156],"stability,":[157],"environmental":[159],"adaptability":[160],"in":[164],"unstructured":[165],"settings.":[166]},"counts_by_year":[],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2026-02-24T00:00:00"}