{"id":"https://openalex.org/W4415178831","doi":"https://doi.org/10.1109/tase.2025.3621449","title":"Dexterity-Guided Dimensional Synthesis and Multi-Task Control for Fingertip Manipulation","display_name":"Dexterity-Guided Dimensional Synthesis and Multi-Task Control for Fingertip Manipulation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415178831","doi":"https://doi.org/10.1109/tase.2025.3621449"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3621449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3621449","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/A5022142263","display_name":"Congjia Su","orcid":"https://orcid.org/0009-0007-4321-8009"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Congjia Su","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431397","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0003-3172-3167"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055167945","display_name":"Shaowei Cui","orcid":"https://orcid.org/0000-0003-4750-3011"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaowei Cui","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100639215","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0002-1390-9219"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022142263"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28277339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"23039","last_page":"23050"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5784000158309937},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5584999918937683},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4950999915599823},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4480000138282776},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.4399999976158142},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.42800000309944153},{"id":"https://openalex.org/keywords/handwriting","display_name":"Handwriting","score":0.42739999294281006},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.41589999198913574},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.3977999985218048},{"id":"https://openalex.org/keywords/pareto-optimal","display_name":"Pareto optimal","score":0.3813999891281128}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6061999797821045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5784000158309937},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5584999918937683},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4950999915599823},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4480000138282776},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.4399999976158142},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.42800000309944153},{"id":"https://openalex.org/C2779386606","wikidata":"https://www.wikidata.org/wiki/Q2393642","display_name":"Handwriting","level":2,"score":0.42739999294281006},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.41589999198913574},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40779998898506165},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.3977999985218048},{"id":"https://openalex.org/C2986314615","wikidata":"https://www.wikidata.org/wiki/Q36829","display_name":"Pareto optimal","level":3,"score":0.3813999891281128},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3736000061035156},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.36480000615119934},{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.336899995803833},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.31690001487731934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31200000643730164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3061000108718872},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27000001072883606},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3621449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3621449","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/G1563129299","display_name":null,"funder_award_id":"62122087","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2376444676","display_name":null,"funder_award_id":"U24A20282","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3288954258","display_name":null,"funder_award_id":"62373039","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5910583005","display_name":null,"funder_award_id":"2020137","funder_id":"https://openalex.org/F4320322847","funder_display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences"},{"id":"https://openalex.org/G6900291469","display_name":null,"funder_award_id":"U23B2038, 62203435, 62303455, and 62273342","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7191648772","display_name":null,"funder_award_id":"62273342","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7255813060","display_name":null,"funder_award_id":"62303455","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8087985189","display_name":null,"funder_award_id":"U23B2038","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8904938684","display_name":null,"funder_award_id":"L233006","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322847","display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences","ror":"https://ror.org/031141b54"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1976030291","https://openalex.org/W1978646801","https://openalex.org/W1986516966","https://openalex.org/W2026485759","https://openalex.org/W2115244400","https://openalex.org/W2126105956","https://openalex.org/W2126701792","https://openalex.org/W2135493101","https://openalex.org/W2207649084","https://openalex.org/W2247230765","https://openalex.org/W2296446406","https://openalex.org/W2526156337","https://openalex.org/W2589847876","https://openalex.org/W2613487052","https://openalex.org/W2789839425","https://openalex.org/W2801913747","https://openalex.org/W2805556115","https://openalex.org/W2807785345","https://openalex.org/W2885529804","https://openalex.org/W2899361780","https://openalex.org/W2907450337","https://openalex.org/W2943200793","https://openalex.org/W2950069298","https://openalex.org/W2980714449","https://openalex.org/W3007403834","https://openalex.org/W3010923030","https://openalex.org/W3034907882","https://openalex.org/W3047193700","https://openalex.org/W3090599104","https://openalex.org/W3142358165","https://openalex.org/W3174011998","https://openalex.org/W3203535725","https://openalex.org/W4376851169","https://openalex.org/W4386634218","https://openalex.org/W4387197149","https://openalex.org/W4403095613"],"related_works":[],"abstract_inverted_index":{"The":[0,122],"geometric":[1,28],"parameters":[2,87,127],"severely":[3],"impact":[4],"the":[5,21,27,56,70,84,106,125,139,144,160,181,186,190,195,198],"performance":[6],"of":[7,31,124,150,159,197],"dexterous":[8],"manipulation,":[9],"but":[10],"manually":[11],"adjusting":[12],"them":[13],"is":[14,128,154,165],"time-consuming.":[15],"In":[16,178],"this":[17],"paper,":[18],"we":[19,47,90],"employ":[20],"dexterity-guided":[22],"dimensional":[23],"synthesis":[24],"to":[25,41,54,65,82,100,168,174,180],"explore":[26],"design":[29,86],"space":[30],"a":[32,37,50,92,101,115,131,147],"robotic":[33],"hand,":[34],"and":[35,78,97,118],"propose":[36],"multi-objective":[38],"optimization":[39],"framework":[40],"improve":[42],"its":[43],"manipulation":[44,79],"dexterity.":[45],"Specifically,":[46],"first":[48],"establish":[49],"screw-based":[51],"mathematical":[52],"model":[53],"describe":[55],"hand-object":[57],"system\u2019s":[58,71],"kinetostatic":[59],"properties.":[60],"Three":[61],"objectives":[62],"are":[63,109],"specified":[64],"achieve":[66],"Pareto":[67,116],"optimality:":[68],"maximizing":[69],"feasible":[72,75],"position":[73],"space,":[74,77],"orientation":[76],"stability.":[80],"Furthermore,":[81],"validate":[83],"optimal":[85,120,126],"in":[88],"practice,":[89],"develop":[91],"multi-task":[93],"object":[94],"motion":[95],"controller":[96,164,188],"apply":[98],"it":[99],"letter":[102,132],"handwriting":[103,134],"task.":[104],"Finally,":[105],"optimized":[107,140],"results":[108],"quantitatively":[110],"analyzed":[111],"by":[112],"simulation,":[113],"yielding":[114],"front":[117],"112":[119],"solutions.":[121],"applicability":[123],"assessed":[129],"through":[130],"\u201cO\u201d":[133,145],"experiment.":[135],"Results":[136],"show":[137],"that":[138,158],"hand":[141],"can":[142],"write":[143],"with":[146,171],"maximum":[148],"radius":[149],"30.0":[151],"mm,":[152],"which":[153],"27.12%":[155],"larger":[156],"than":[157],"non-optimized":[161],"hand.":[162],"This":[163],"also":[166],"used":[167],"schedule":[169],"subtasks":[170],"varying":[172],"priorities":[173],"avoid":[175],"constrained":[176],"regions.":[177],"contrast":[179],"neural":[182],"network-based":[183],"PID":[184],"controller,":[185],"designed":[187],"prioritizes":[189],"task\u2019s":[191],"critical":[192],"parts,":[193],"ensuring":[194],"legibility":[196],"letters.":[199]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-15T00:00:00"}
