{"id":"https://openalex.org/W2150246196","doi":"https://doi.org/10.1109/robot.2009.5152542","title":"Anatomically correct testbed hand control: Muscle and joint control strategies","display_name":"Anatomically correct testbed hand control: Muscle and joint control strategies","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2150246196","doi":"https://doi.org/10.1109/robot.2009.5152542","mag":"2150246196"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5041011551","display_name":"Ashish D. Deshpande","orcid":"https://orcid.org/0000-0002-4152-5933"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.D. Deshpande","raw_affiliation_strings":["University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113824329","display_name":"Jonathan Ko","orcid":"https://orcid.org/0009-0007-5159-6237"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Ko","raw_affiliation_strings":["University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108302275","display_name":"D. Fox","orcid":"https://orcid.org/0009-0004-7622-7196"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Fox","raw_affiliation_strings":["University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039010626","display_name":"Yoky Matsuoka","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Y. Matsuoka","raw_affiliation_strings":["University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.0115,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.97884421,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4416","last_page":"4422"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9912999868392944,"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":0.9912999868392944,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9729999899864197,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13280","display_name":"Biomedical and Engineering Education","score":0.9192000031471252,"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/testbed","display_name":"Testbed","score":0.7315645217895508},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7024632692337036},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5391663908958435},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5282192230224609},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4892866313457489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4763619899749756},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4273248314857483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40206536650657654},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3886978030204773},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3724057972431183},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3527483344078064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18611788749694824}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7315645217895508},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7024632692337036},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5391663908958435},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5282192230224609},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4892866313457489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4763619899749756},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4273248314857483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40206536650657654},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3886978030204773},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3724057972431183},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3527483344078064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18611788749694824},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W585670370","https://openalex.org/W1502922572","https://openalex.org/W1510918013","https://openalex.org/W1552041080","https://openalex.org/W1555601014","https://openalex.org/W1556122624","https://openalex.org/W1571870753","https://openalex.org/W1746819321","https://openalex.org/W2003895277","https://openalex.org/W2061343052","https://openalex.org/W2075943808","https://openalex.org/W2082723833","https://openalex.org/W2093676535","https://openalex.org/W2100237511","https://openalex.org/W2100476631","https://openalex.org/W2109643917","https://openalex.org/W2109748695","https://openalex.org/W2111236727","https://openalex.org/W2112484916","https://openalex.org/W2125805081","https://openalex.org/W2125929468","https://openalex.org/W2126701792","https://openalex.org/W2134462032","https://openalex.org/W2137192097","https://openalex.org/W2138290318","https://openalex.org/W2138375695","https://openalex.org/W2140652513","https://openalex.org/W2141153736","https://openalex.org/W2144908914","https://openalex.org/W2155013389","https://openalex.org/W2158589239","https://openalex.org/W2159008857","https://openalex.org/W2161445284","https://openalex.org/W2163656214","https://openalex.org/W2164032318","https://openalex.org/W2164471375","https://openalex.org/W2164875232","https://openalex.org/W2185222181","https://openalex.org/W2323447981","https://openalex.org/W2519161834","https://openalex.org/W4205362845","https://openalex.org/W4285719527","https://openalex.org/W6633063127","https://openalex.org/W6676573774","https://openalex.org/W6680961293","https://openalex.org/W6683354640","https://openalex.org/W6684047312"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"Human":[0],"hands":[1],"are":[2,75],"capable":[3],"of":[4,15,37,45,61,136],"many":[5],"dexterous":[6],"grasping":[7],"and":[8,17,41,70,80,106,124,153,166,186],"manipulation":[9],"tasks.":[10],"To":[11],"understand":[12],"human":[13,47],"levels":[14],"dexterity":[16],"to":[18,99,179],"achieve":[19,187],"it":[20],"with":[21,84],"robotic":[22],"hands,":[23],"we":[24],"constructed":[25],"an":[26],"anatomically":[27],"correct":[28],"testbed":[29],"(ACT)":[30],"hand":[31,176],"which":[32],"allows":[33,121,133],"for":[34,56,82,122,134,143],"the":[35,38,46,57,62,101,104,116,129,140,174,188],"investigation":[36,172],"biomechanical":[39],"features":[40],"neural":[42],"control":[43,54,69,74,87,171],"strategies":[44,55,182],"hand.":[48],"This":[49,169],"paper":[50],"focuses":[51],"on":[52,173],"developing":[53],"index":[58],"finger":[59,141],"motion":[60],"ACT":[63,175],"Hand.":[64],"A":[65],"direct":[66,117],"muscle":[67,105,118],"position":[68,119,126],"a":[71,148],"force-optimized":[72,130],"joint":[73,107,131],"implemented":[76],"as":[77],"building":[78],"blocks":[79],"tools":[81],"comparisons":[83],"future":[85],"biological":[86,181],"approaches.":[88],"We":[89],"show":[90],"how":[91],"Gaussian":[92,151,160],"process":[93],"regression":[94,156],"techniques":[95],"can":[96],"be":[97],"used":[98],"determine":[100],"relationships":[102],"between":[103,150],"motions":[108],"in":[109,139,184],"both":[110],"controllers.":[111],"Our":[112],"experiments":[113],"demonstrate":[114],"that":[115,159],"controller":[120,132],"accurate":[123],"fast":[125],"tracking,":[127],"while":[128],"exploitation":[135],"actuation":[137],"redundancy":[138],"critical":[142],"this":[144],"redundant":[145],"system.":[146],"Furthermore,":[147],"comparison":[149],"processes":[152,161],"least":[154],"squares":[155],"method":[157],"shows":[158],"provide":[162],"better":[163],"parameter":[164],"estimation":[165],"tracking":[167],"performance.":[168],"first":[170],"opens":[177],"doors":[178],"implement":[180],"observed":[183],"humans":[185],"ultimate":[189],"human-level":[190],"dexterity.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}