{"id":"https://openalex.org/W4400314247","doi":"https://doi.org/10.1109/tase.2024.3412823","title":"Whole-Body Safety-Critical Control Design of an Upper Limb Prosthesis for Vision-Based Manipulation and Grasping","display_name":"Whole-Body Safety-Critical Control Design of an Upper Limb Prosthesis for Vision-Based Manipulation and Grasping","publication_year":2024,"publication_date":"2024-07-04","ids":{"openalex":"https://openalex.org/W4400314247","doi":"https://doi.org/10.1109/tase.2024.3412823"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3412823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3412823","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), School of Mechanical Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), School of Mechanical Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034896759","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0002-1603-5692"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068653886","display_name":"Peihao Zhang","orcid":"https://orcid.org/0000-0002-7676-7203"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peihao Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100739668","display_name":"Peng Shi","orcid":"https://orcid.org/0000-0001-8218-586X"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peng Shi","raw_affiliation_strings":["School of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia","institution_ids":["https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100450024"],"corresponding_institution_ids":["https://openalex.org/I4210146112"],"apc_list":null,"apc_paid":null,"fwci":1.1073,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74911149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"534","last_page":"545"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.92330002784729,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.92330002784729,"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/prosthesis","display_name":"Prosthesis","score":0.5977108478546143},{"id":"https://openalex.org/keywords/artificial-limbs","display_name":"Artificial limbs","score":0.5372647047042847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4964976906776428},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4796212613582611},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.46510228514671326},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4569878578186035},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4479427635669708},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4314945936203003},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4078342616558075},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3969659209251404},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3855370879173279},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3635707497596741},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3349974751472473},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18021413683891296},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14380672574043274},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.09716609120368958}],"concepts":[{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.5977108478546143},{"id":"https://openalex.org/C2987467780","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Artificial limbs","level":3,"score":0.5372647047042847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4964976906776428},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4796212613582611},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.46510228514671326},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4569878578186035},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4479427635669708},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4314945936203003},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4078342616558075},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3969659209251404},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3855370879173279},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3635707497596741},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3349974751472473},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18021413683891296},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14380672574043274},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09716609120368958}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3412823","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3412823","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6753610984","display_name":null,"funder_award_id":"2022YFB4701404","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6862166440","display_name":null,"funder_award_id":"DP240101140","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G7395901126","display_name":null,"funder_award_id":"2021YFF0501600","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7755824317","display_name":null,"funder_award_id":"U22A2060","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"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1489930906","https://openalex.org/W1953185517","https://openalex.org/W1983864916","https://openalex.org/W2051171836","https://openalex.org/W2072763216","https://openalex.org/W2079584639","https://openalex.org/W2117402460","https://openalex.org/W2154683138","https://openalex.org/W2160205694","https://openalex.org/W2208458196","https://openalex.org/W2285870816","https://openalex.org/W2343663143","https://openalex.org/W2388591084","https://openalex.org/W2592597155","https://openalex.org/W2911549659","https://openalex.org/W2912326828","https://openalex.org/W2943086224","https://openalex.org/W2962925012","https://openalex.org/W3033294558","https://openalex.org/W3044538930","https://openalex.org/W3045069702","https://openalex.org/W3045079284","https://openalex.org/W3094314340","https://openalex.org/W3102577499","https://openalex.org/W3121807756","https://openalex.org/W3200528739","https://openalex.org/W3205519146","https://openalex.org/W3207311111","https://openalex.org/W4205581758","https://openalex.org/W4210465166","https://openalex.org/W4210681951","https://openalex.org/W4285123922","https://openalex.org/W4285506248","https://openalex.org/W4310875089","https://openalex.org/W4312535193","https://openalex.org/W4312757239"],"related_works":["https://openalex.org/W2046975784","https://openalex.org/W4385650421","https://openalex.org/W2140650187","https://openalex.org/W2285747260","https://openalex.org/W2294896726","https://openalex.org/W3166225131","https://openalex.org/W2410290163","https://openalex.org/W2171361626","https://openalex.org/W2018650835","https://openalex.org/W2416790921"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3,38],"upper":[4,137],"limb":[5,138],"prosthesis":[6],"has":[7,161],"been":[8,163],"furnished":[9],"with":[10,30,44,57,84,103,111,195],"a":[11,53,78,85,124,135,172],"novel":[12],"vision-based":[13],"manipulation":[14],"and":[15,71,156,187,218,241,254],"grasping":[16,66,243],"strategy.":[17,150],"The":[18,192,226],"proposed":[19,97,147],"whole-body":[20,113,148,173],"safety-critical":[21,174],"control":[22,48,94,149,158,175,182,190,199,262],"design":[23],"includes":[24],"vision":[25,227],"servoing,":[26],"multiple":[27,100],"tasks":[28,102],"planning":[29],"strict":[31],"priorities,":[32],"which":[33,245],"can":[34,209,229],"be":[35],"formulated":[36],"as":[37,47,198],"hierarchical":[39],"multi-task":[40],"optimization":[41,126],"(HMO)":[42],"problem":[43,120],"safety":[45,110,196],"conditions\u2014expressed":[46],"barrier":[49,200],"functions":[50,201],"(CBF).":[51],"Firstly,":[52],"modified":[54],"YOLOv7":[55],"algorithm":[56],"key":[58],"points":[59],"detection":[60],"is":[61,96,121],"developed":[62],"to":[63,98,106,152,236,248],"determine":[64],"the":[65,69,93,112,118,143,146,164,203,212,220,250,259],"pattern":[67],"of":[68,87,109,145,159,166,205,215,223,263],"object":[70,165],"extract":[72],"its":[73],"edge":[74],"contour":[75],"information":[76,240],"using":[77,134],"depth":[79],"camera.":[80],"An":[81],"HMO-based":[82],"strategy":[83,194],"notion":[86],"CBF,":[88],"providing":[89],"inequality":[90],"constraints":[91,105],"in":[92,115,202,233],"input,":[95],"handle":[99],"prioritized":[101],"various":[104],"offer":[107],"guarantees":[108],"motion":[114],"consideration.":[116],"Then":[117],"HMO":[119,193],"solved":[122],"by":[123,133],"neuro-dynamics":[125],"solution":[127],"online.":[128],"Finally,":[129],"experiments":[130],"are":[131,246],"implemented":[132],"self-developed":[136],"prosthesis.":[139],"Experimental":[140],"results":[141],"validate":[142],"performance":[144],"Note":[151],"Practitioners\u2014The":[153],"intuitive,":[154],"convenient":[155],"autonomous":[157,181],"prosthetics":[160],"always":[162],"researchers\u2019":[167],"efforts.":[168],"This":[169],"paper":[170],"proposes":[171],"design,":[176],"including":[177],"artificial":[178],"perception":[179],"system,":[180],"system":[183],"under":[184],"visual":[185],"guidance,":[186],"user":[188],"volition":[189],"system.":[191],"conditions-expressed":[197],"context":[204],"real-time":[206],"optimization-based":[207],"method":[208],"fully":[210],"consider":[211],"task":[213],"requirements":[214],"different":[216],"priorities":[217],"realize":[219],"orderly":[221],"execution":[222],"prosthetic":[224],"tasks.":[225],"feedback":[228],"detect":[230],"surrounding":[231],"environments":[232],"real":[234],"time":[235],"obtain":[237],"fine":[238],"position":[239],"optimal":[242],"pattern,":[244],"conducive":[247],"reduce":[249],"amputees\u2019":[251],"cognitive":[252],"burden":[253],"provide":[255],"new":[256],"ideas":[257],"for":[258],"whole":[260],"body":[261],"prostheses.":[264]},"counts_by_year":[{"year":2025,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
