{"id":"https://openalex.org/W7131824243","doi":"https://doi.org/10.1109/sii64115.2026.11404580","title":"Stable In-hand Manipulation for a Lightweight Four-motor Prosthetic Hand","display_name":"Stable In-hand Manipulation for a Lightweight Four-motor Prosthetic Hand","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131824243","doi":"https://doi.org/10.1109/sii64115.2026.11404580"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5127210561","display_name":"Yuki Kuroda","orcid":null},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Kuroda","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011754844","display_name":"Tomoya Takahashi","orcid":"https://orcid.org/0000-0003-0919-2312"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoya Takahashi","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001592945","display_name":"Cristian C. Beltran-Hernandez","orcid":"https://orcid.org/0000-0002-1134-009X"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Cristian C. Beltran-Hernandez","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045607922","display_name":"Kazutoshi Tanaka","orcid":"https://orcid.org/0000-0003-0880-9333"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazutoshi Tanaka","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034718334","display_name":"Masashi Hamaya","orcid":"https://orcid.org/0000-0003-4189-8219"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Hamaya","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan","institution_ids":["https://openalex.org/I146230289"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146230289"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16508314,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"691","last_page":"697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7817000150680542,"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":0.7817000150680542,"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/T10982","display_name":"Motor Control and Adaptation","score":0.046300001442432404,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.028300000354647636,"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/prosthetic-hand","display_name":"Prosthetic hand","score":0.6589999794960022},{"id":"https://openalex.org/keywords/index-finger","display_name":"Index finger","score":0.5471000075340271},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5430999994277954},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5310999751091003},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4740999937057495},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.43779999017715454},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4156999886035919},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3950999975204468}],"concepts":[{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.6589999794960022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5525000095367432},{"id":"https://openalex.org/C2777087348","wikidata":"https://www.wikidata.org/wiki/Q184848","display_name":"Index finger","level":2,"score":0.5471000075340271},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5430999994277954},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5310999751091003},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48750001192092896},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4740999937057495},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.43779999017715454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4352000057697296},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4156999886035919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41200000047683716},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3950999975204468},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3246000111103058},{"id":"https://openalex.org/C2986817828","wikidata":"https://www.wikidata.org/wiki/Q235790","display_name":"Stepper motor","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.27320000529289246},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.2667999863624573},{"id":"https://openalex.org/C2987467780","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Artificial limbs","level":3,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.48099347949028015,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1820657498","https://openalex.org/W1986797968","https://openalex.org/W2002236162","https://openalex.org/W2081932770","https://openalex.org/W2104207933","https://openalex.org/W2133644836","https://openalex.org/W2160906359","https://openalex.org/W2561920538","https://openalex.org/W2911438233","https://openalex.org/W3011137165","https://openalex.org/W3025986385","https://openalex.org/W4210497108","https://openalex.org/W4383108265","https://openalex.org/W4385430564","https://openalex.org/W4405674124","https://openalex.org/W4412352947"],"related_works":[],"abstract_inverted_index":{"Electric":[0],"prosthetic":[1,81,88],"hands":[2,16],"should":[3],"be":[4],"lightweight":[5,78,111,184],"to":[6,26,38,109,116,154,201,213],"decrease":[7],"the":[8,11,131,145,150,160,206,217],"burden":[9],"on":[10,216],"user,":[12],"shaped":[13],"like":[14],"human":[15],"for":[17,238],"cosmetic":[18],"purposes,":[19],"and":[20,31,93,106,148,172,175,186,234],"designed":[21],"with":[22,96,130,183,194],"motors":[23],"enclosed":[24],"inside":[25],"protect":[27],"them":[28],"from":[29,65],"damage":[30],"dirt.":[32],"Additionally,":[33],"in-hand":[34],"manipulation":[35,75,142],"is":[36],"necessary":[37],"perform":[39],"daily":[40,228],"activities":[41],"such":[42,52],"as":[43,53],"transitioning":[44],"between":[45,91],"different":[46],"postures,":[47],"particularly":[48],"through":[49],"rotational":[50],"movements,":[51],"reorienting":[54],"a":[55,58,66,77,179,188,236],"pen":[56,237],"into":[57],"writing":[59],"posture":[60],"after":[61],"picking":[62],"it":[63],"up":[64,115,200],"desk.":[67],"We":[68],"previously":[69,133],"developed":[70],"PLEXUS":[71],"hand":[72,82,223],"(Precision\u2013Lateral":[73],"dEXteroUS":[74],"hand),":[76],"(311":[79],"g)":[80],"driven":[83],"by":[84,124,143],"four":[85],"motors.":[86],"This":[87,119],"performed":[89],"reorientation":[90],"precision":[92],"lateral":[94],"grasps":[95],"various":[97,168],"objects.":[98],"However,":[99],"its":[100],"controller":[101],"required":[102],"predefined":[103],"object":[104,157],"widths":[105,169],"was":[107],"limited":[108],"handling":[110],"objects":[112,166,185],"(of":[113,198],"weight":[114,199],"34":[117],"g).":[118,203],"study":[120],"addresses":[121],"these":[122],"limitations":[123],"employing":[125],"motor":[126],"current":[127],"feedback.":[128],"Combined":[129],"hand\u2019s":[132],"optimized":[134],"single-axis":[135],"thumb,":[136],"this":[137],"approach":[138],"achieves":[139],"more":[140],"stable":[141,156],"estimating":[144],"object\u2019s":[146],"width":[147],"adjusting":[149],"index":[151,209],"finger":[152,210],"position":[153],"maintain":[155],"holding":[158],"during":[159],"reorientation.":[161],"Experimental":[162],"validation":[163],"using":[164],"primitive":[165],"of":[167],"(5\u201330":[170],"mm)":[171],"shapes":[173],"(cylinders":[174],"prisms)":[176],"resulted":[177],"in":[178],"100%":[180],"success":[181,190],"rate":[182,191],"maintained":[187],"high":[189],"(\u226780%)":[192],"even":[193],"heavy":[195],"aluminum":[196],"prisms":[197],"289":[202,219],"By":[204],"contrast,":[205],"performance":[207],"without":[208],"coordination":[211],"dropped":[212],"just":[214],"40%":[215],"heaviest":[218],"g":[220],"prism.":[221],"The":[222],"also":[224],"successfully":[225],"executed":[226],"several":[227],"tasks,":[229],"including":[230],"closing":[231],"bottle":[232],"caps":[233],"orienting":[235],"writing.":[239]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-28T00:00:00"}
