{"id":"https://openalex.org/W4416010380","doi":"https://doi.org/10.1109/tase.2025.3630220","title":"Adaptive Consensus Control for Multi-Finger Gestures of a Novel 4D-Printed Soft Gripper","display_name":"Adaptive Consensus Control for Multi-Finger Gestures of a Novel 4D-Printed Soft Gripper","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416010380","doi":"https://doi.org/10.1109/tase.2025.3630220"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3630220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3630220","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/A5000941113","display_name":"Haiying Yao","orcid":"https://orcid.org/0009-0005-4445-2054"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haiying Yao","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741683","display_name":"Yuyan Zhang","orcid":"https://orcid.org/0000-0002-6062-6668"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuyan Zhang","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064776495","display_name":"Xiaoyuan Luo","orcid":"https://orcid.org/0000-0003-0404-9533"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Luo","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028093977","display_name":"Zongmin Zhou","orcid":"https://orcid.org/0009-0007-0443-389X"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixiang Zhou","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101421344","display_name":"Yue Di","orcid":"https://orcid.org/0009-0000-5547-6186"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Di","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103496682","display_name":"Zhixin Ren","orcid":"https://orcid.org/0000-0003-0808-757X"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixin Ren","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037086011","display_name":"Yintang Wen","orcid":"https://orcid.org/0000-0001-7178-3805"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yintang Wen","raw_affiliation_strings":["School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Department of School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5000941113"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31580422,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"23861","last_page":"23872"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9811000227928162,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9811000227928162,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.004100000020116568,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.0035000001080334187,"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/actuator","display_name":"Actuator","score":0.6996999979019165},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.53329998254776},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4932999908924103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48809999227523804},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4562999904155731},{"id":"https://openalex.org/keywords/silicone-rubber","display_name":"Silicone rubber","score":0.45339998602867126},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.40700000524520874},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3919999897480011},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38999998569488525}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6996999979019165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5360000133514404},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.53329998254776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.508400022983551},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4932999908924103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48809999227523804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48190000653266907},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4562999904155731},{"id":"https://openalex.org/C2776290925","wikidata":"https://www.wikidata.org/wiki/Q4115245","display_name":"Silicone rubber","level":2,"score":0.45339998602867126},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.40700000524520874},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3919999897480011},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38999998569488525},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.3686999976634979},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3481000065803528},{"id":"https://openalex.org/C88484716","wikidata":"https://www.wikidata.org/wiki/Q1474679","display_name":"Smart material","level":2,"score":0.33959999680519104},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3240000009536743},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3239000141620636},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.27230000495910645},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25679999589920044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2565999925136566}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3630220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3630220","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/G1269791647","display_name":null,"funder_award_id":"225676154H","funder_id":"https://openalex.org/F4320336618","funder_display_name":"Science and Technology Program of Suzhou"},{"id":"https://openalex.org/G6217394854","display_name":null,"funder_award_id":"F2024203074","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G868155315","display_name":null,"funder_award_id":"246Z1002G","funder_id":"https://openalex.org/F4320336618","funder_display_name":"Science and Technology Program of Suzhou"}],"funders":[{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336618","display_name":"Science and Technology Program of Suzhou","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W3035972946","https://openalex.org/W3092497509","https://openalex.org/W3129100413","https://openalex.org/W3130983623","https://openalex.org/W3132355243","https://openalex.org/W3183217507","https://openalex.org/W3213181111","https://openalex.org/W4200230464","https://openalex.org/W4210359362","https://openalex.org/W4229071651","https://openalex.org/W4283212685","https://openalex.org/W4285149089","https://openalex.org/W4289732066","https://openalex.org/W4295135865","https://openalex.org/W4295290342","https://openalex.org/W4308805623","https://openalex.org/W4313201471","https://openalex.org/W4322502754","https://openalex.org/W4362701264","https://openalex.org/W4363673394","https://openalex.org/W4366692374","https://openalex.org/W4377030113","https://openalex.org/W4384661852","https://openalex.org/W4386159815","https://openalex.org/W4386415432","https://openalex.org/W4386814558","https://openalex.org/W4386968927","https://openalex.org/W4387115471","https://openalex.org/W4389083449","https://openalex.org/W4389795116","https://openalex.org/W4390146225","https://openalex.org/W4391512978","https://openalex.org/W4391973441","https://openalex.org/W4391994216","https://openalex.org/W4392979569","https://openalex.org/W4394862962","https://openalex.org/W4394894156","https://openalex.org/W4401362399","https://openalex.org/W4403606538","https://openalex.org/W4403927062"],"related_works":[],"abstract_inverted_index":{"The":[0,66,114,148],"high":[1],"integration":[2],"and":[3,23,33,64,80,126,160],"continuous":[4],"deformation":[5,190],"capability":[6],"of":[7,107,116,133,145,171,178],"4D-printed":[8,37,55,67],"smart":[9],"materials":[10],"possess":[11],"great":[12],"potential":[13],"in":[14,30,175],"soft":[15,57,153,185],"robot":[16],"manufacturing.":[17],"However,":[18],"due":[19],"to":[20,103,140,165],"material":[21],"properties":[22],"fabrication":[24],"discrepancies,":[25],"there":[26],"may":[27],"be":[28],"variations":[29],"the":[31,78,89,105,117,142,146,169,172,176,181,184],"sensing":[32,161],"actuation":[34],"performance":[35,108,144],"among":[36,111],"actuators":[38],"with":[39,71,155],"identical":[40],"structures,":[41],"which":[42],"can":[43],"affect":[44],"their":[45],"synchronous":[46],"operation.":[47],"This":[48],"paper":[49],"develops":[50],"a":[51,81],"novel":[52],"electrothermally":[53],"driven":[54],"multi-finger":[56],"gripper":[58,186],"system":[59],"that":[60,152],"integrates":[61],"self-sensing,":[62],"actuation,":[63],"control.":[65],"flexible":[68,72],"structure":[69],"integrated":[70],"micro-crack":[73],"sensor":[74],"is":[75,85,101,121],"used":[76],"as":[77],"finger,":[79],"simplified":[82],"dynamic":[83],"model":[84],"proposed":[86,102,118],"based":[87],"on":[88,138],"pseudo-rigid":[90],"body":[91],"modeling":[92],"technique.":[93],"In":[94],"addition,":[95],"an":[96],"adaptive":[97],"consensus":[98],"control":[99,119],"strategy":[100,120],"address":[104],"issue":[106],"response":[109],"inconsistency":[110],"multiple":[112],"fingers.":[113],"effectiveness":[115],"verified":[122],"by":[123],"numerical":[124],"simulation":[125],"experiments.":[127],"Finally,":[128],"bioinspired":[129],"wrinkled":[130],"structures":[131],"made":[132],"silicone":[134],"rubber":[135],"are":[136],"designed":[137],"fingers":[139,154],"improve":[141],"grasping":[143,182,194],"gripper.":[147],"experimental":[149],"results":[150],"show":[151],"different":[156],"initial":[157],"states,":[158],"driving,":[159],"performances":[162],"eventually":[163],"converge":[164],"consistent":[166],"states":[167],"under":[168],"action":[170],"controller":[173],"even":[174],"presence":[177],"disturbances.":[179],"During":[180],"process,":[183],"demonstrated":[187],"excellent":[188],"coordinated":[189],"capability,":[191],"effectively":[192],"maintaining":[193],"stability.":[195]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-07T00:00:00"}