{"id":"https://openalex.org/W4407360624","doi":"https://doi.org/10.1109/tase.2025.3540797","title":"Disturbance Compensation Control for Humanoid Robot Hand Driven by Tendon-Sheath Based on Disturbance Observer","display_name":"Disturbance Compensation Control for Humanoid Robot Hand Driven by Tendon-Sheath Based on Disturbance Observer","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407360624","doi":"https://doi.org/10.1109/tase.2025.3540797"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3540797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3540797","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/A5012159722","display_name":"Meng Yin","orcid":"https://orcid.org/0000-0001-7173-3269"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Yin","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-7173-3269","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070893601","display_name":"Haozhe Wang","orcid":"https://orcid.org/0000-0002-3004-8780"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haozhe Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000702733","display_name":"Dongyang Shang","orcid":"https://orcid.org/0000-0003-4626-6958"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyang Shang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-4626-6958","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355322","display_name":"Xiaogang Li","orcid":"https://orcid.org/0000-0001-9255-7559"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Li","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078006294","display_name":"Tiantian Xu","orcid":"https://orcid.org/0000-0001-8974-4572"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Xu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8974-4572","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100352764","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0001-6130-7821"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6130-7821","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.9491,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96829078,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"13387","last_page":"13397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8910999894142151,"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":0.8910999894142151,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8658999800682068,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8094000220298767,"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/disturbance","display_name":"Disturbance (geology)","score":0.8480660915374756},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7682615518569946},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6745539903640747},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.637718677520752},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5025768280029297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45989444851875305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45532679557800293},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4029717743396759},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.375320702791214},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3460473418235779},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33961543440818787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2187078297138214},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.17299684882164001},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.16130462288856506},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1550864577293396},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08301109075546265}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.8480660915374756},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7682615518569946},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6745539903640747},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.637718677520752},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5025768280029297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45989444851875305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45532679557800293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4029717743396759},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.375320702791214},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3460473418235779},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33961543440818787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2187078297138214},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.17299684882164001},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.16130462288856506},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1550864577293396},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08301109075546265},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3540797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3540797","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/G285976781","display_name":null,"funder_award_id":"62125307","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G459056043","display_name":null,"funder_award_id":"62203428","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7011305485","display_name":null,"funder_award_id":"JCYJ20220818101602005","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1938785289","https://openalex.org/W1967700357","https://openalex.org/W1991926214","https://openalex.org/W1994380917","https://openalex.org/W2022112350","https://openalex.org/W2062022268","https://openalex.org/W2066033083","https://openalex.org/W2085029715","https://openalex.org/W2092775632","https://openalex.org/W2098413769","https://openalex.org/W2130483697","https://openalex.org/W2144333659","https://openalex.org/W2144678023","https://openalex.org/W2145846319","https://openalex.org/W2164068699","https://openalex.org/W2165691287","https://openalex.org/W2169025967","https://openalex.org/W2169908968","https://openalex.org/W2855293531","https://openalex.org/W2906481773","https://openalex.org/W2981052802","https://openalex.org/W2986783566","https://openalex.org/W3005470293","https://openalex.org/W3041765268","https://openalex.org/W3184036805","https://openalex.org/W3208630791","https://openalex.org/W3216804181","https://openalex.org/W4205367930","https://openalex.org/W4206224131","https://openalex.org/W4214843456","https://openalex.org/W4280630680","https://openalex.org/W4287854437","https://openalex.org/W4312614647","https://openalex.org/W4320517152","https://openalex.org/W4377235671"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2153353177"],"abstract_inverted_index":{"The":[0,120,153,192],"operation":[1],"accuracy":[2,42,134,161,170,210,275],"of":[3,19,32,43,77,89,105,128,135,162,171,211,226,246,278,285],"humanoid":[4,33,44,78,93,106,137,172,189,212,221],"robot":[5,34,45,79,94,107,138,173,190,213],"hands":[6,80,95],"driven":[7,81],"by":[8,65,82,250],"the":[9,17,29,40,55,61,67,74,83,102,115,126,132,136,141,149,159,163,168,197,208,230,235,244,273,279,283,286],"tendon":[10,84,116],"sheath":[11,85,117],"will":[12],"be":[13],"reduced":[14],"due":[15],"to":[16,28,38,157,216],"influence":[18,127],"friction":[20,68,129,251,256],"torque":[21,64,130],"during":[22],"rotation,":[23],"which":[24,59],"is":[25,111,145,155,264,290],"not":[26],"conducive":[27],"dexterous":[30],"operations":[31],"hands.":[35,174,191,214],"In":[36],"order":[37],"improve":[39,158,207],"control":[41,51,160,182,186,199,258,270,288],"hands,":[46],"this":[47,71,176,267],"paper":[48,218],"proposes":[49,73,219],"a":[50,220,255],"strategy":[52,200,259,271,289],"based":[53,113,147,201,228,260],"on":[54,114,131,148,188,202,229,261],"disturbance":[56,63,142,203,262],"observer":[57,143,263],"compensation,":[58],"eliminates":[60],"external":[62],"compensating":[66],"torque.":[69],"Firstly,":[70],"article":[72,177],"mechanical":[75,280],"structure":[76],"with":[86,223],"19":[87,224],"degrees":[88,225],"freedom":[90,227],"(DOF).":[91],"This":[92,269],"can":[96,205],"grasp":[97],"most":[98],"irregular":[99],"objects.":[100],"Next,":[101],"dynamic":[103,123,240],"model":[104,124],"hands\u2019":[108],"drive":[109],"systems":[110],"established":[112],"transmission":[118],"theory.":[119],"driving":[121,164],"system\u2019s":[122],"reveals":[125],"motion":[133,274],"hand.":[139,281],"Then,":[140],"(DOB)":[144],"designed":[146],"robust":[150],"stability":[151,277],"theorem.":[152],"DOB":[154],"used":[156],"system,":[165],"thereby":[166],"improving":[167],"operational":[169,209],"Finally,":[175,282],"conducts":[178],"simulation":[179,294],"rotation":[180],"tracking":[181],"and":[183,233,276,295],"prototype":[184],"grasping":[185],"experiments":[187],"experimental":[193,296],"results":[194],"show":[195],"that":[196],"proposed":[198,265,287],"compensation":[204,257],"effectively":[206],"Note":[215],"Practitioners\u2014This":[217],"hand":[222],"tendon-driven":[231],"theory":[232,237],"applies":[234],"cable":[236],"for":[238],"its":[239],"modeling.":[241],"To":[242],"address":[243],"issue":[245],"decreased":[247],"precision":[248],"caused":[249],"in":[252,266],"practical":[253],"operations,":[254],"study.":[268],"improves":[272],"effectiveness":[284],"demonstrated":[291],"through":[292],"numerical":[293],"validation.":[297]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}