{"id":"https://openalex.org/W4412747889","doi":"https://doi.org/10.1109/tcyb.2025.3586153","title":"Decentralized Prescribed-Time Control of Robotic Arm-Finger Systems for Grasping and Moving Tasks","display_name":"Decentralized Prescribed-Time Control of Robotic Arm-Finger Systems for Grasping and Moving Tasks","publication_year":2025,"publication_date":"2025-07-30","ids":{"openalex":"https://openalex.org/W4412747889","doi":"https://doi.org/10.1109/tcyb.2025.3586153","pmid":"https://pubmed.ncbi.nlm.nih.gov/40737143"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2025.3586153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3586153","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5101889982","display_name":"Hefu Ye","orcid":"https://orcid.org/0000-0002-5927-9574"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hefu Ye","raw_affiliation_strings":["School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-5927-9574","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035337020","display_name":"Yongduan Song","orcid":"https://orcid.org/0000-0002-2167-1861"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongduan Song","raw_affiliation_strings":["School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-2167-1861","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038930344","display_name":"James Lam","orcid":"https://orcid.org/0000-0002-0294-0640"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"James Lam","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-0294-0640","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004938962","display_name":"P\u00e9tros Ioannou","orcid":"https://orcid.org/0000-0001-6981-0704"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210116219","display_name":"Engineering Systems (United States)","ror":"https://ror.org/02qg60849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Petros A. Ioannou","raw_affiliation_strings":["Department of Electrical Engineering-Systems, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6981-0704","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering-Systems, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I4210116219"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.2231,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96768658,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"55","issue":"9","first_page":"4386","last_page":"4399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9878000020980835,"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":0.9878000020980835,"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":0.9560999870300293,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9491000175476074,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.652286171913147},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6169301867485046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5403466820716858},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4856913983821869},{"id":"https://openalex.org/keywords/movement-control","display_name":"Movement control","score":0.42659521102905273},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38250720500946045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33524036407470703},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3064747452735901},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28866034746170044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27267467975616455},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13466018438339233}],"concepts":[{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.652286171913147},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6169301867485046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5403466820716858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4856913983821869},{"id":"https://openalex.org/C3019108329","wikidata":"https://www.wikidata.org/wiki/Q1751327","display_name":"Movement control","level":2,"score":0.42659521102905273},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38250720500946045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33524036407470703},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3064747452735901},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28866034746170044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27267467975616455},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13466018438339233}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2025.3586153","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3586153","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:40737143","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40737143","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1104027219","display_name":null,"funder_award_id":"62273286","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2219350472","display_name":null,"funder_award_id":"62250710167","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3474679019","display_name":null,"funder_award_id":"61991400","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3713508235","display_name":"\u52a8\u6001\u73af\u5883\u4e0b\u7684\u65e0\u4eba\u7cfb\u7edf\u5148\u8fdb\u63a7\u5236\u7406\u8bba\u53ca\u81ea\u4e3b\u534f\u4f5c\u7b56\u7565\u7814\u7a76","funder_award_id":"61933012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3885284175","display_name":null,"funder_award_id":"2022YFB4701400/4701401","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4867859608","display_name":null,"funder_award_id":"61991403","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6248645078","display_name":null,"funder_award_id":"61860206008","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1717588182","https://openalex.org/W2009654645","https://openalex.org/W2051643363","https://openalex.org/W2097193816","https://openalex.org/W2115762937","https://openalex.org/W2143611759","https://openalex.org/W2156246393","https://openalex.org/W2156485650","https://openalex.org/W2159645158","https://openalex.org/W2160004075","https://openalex.org/W2527481402","https://openalex.org/W2623634636","https://openalex.org/W2732330082","https://openalex.org/W2887685036","https://openalex.org/W2895773960","https://openalex.org/W2978213765","https://openalex.org/W3003514119","https://openalex.org/W3041583238","https://openalex.org/W3090132439","https://openalex.org/W3094869672","https://openalex.org/W3119595474","https://openalex.org/W3129632638","https://openalex.org/W3207311111","https://openalex.org/W3216449291","https://openalex.org/W4200165096","https://openalex.org/W4212823143","https://openalex.org/W4213458743","https://openalex.org/W4221138808","https://openalex.org/W4221159096","https://openalex.org/W4241381050","https://openalex.org/W4285102354","https://openalex.org/W4285305582","https://openalex.org/W4285725538","https://openalex.org/W4285731155","https://openalex.org/W4288059604","https://openalex.org/W4293812304","https://openalex.org/W4313499038","https://openalex.org/W4321609144","https://openalex.org/W4321770453","https://openalex.org/W4386613470","https://openalex.org/W4389297163","https://openalex.org/W4390738469","https://openalex.org/W4391019901","https://openalex.org/W4391554309","https://openalex.org/W4391678818","https://openalex.org/W4393405304","https://openalex.org/W4394946327","https://openalex.org/W4394966836","https://openalex.org/W4400810665","https://openalex.org/W4401980869","https://openalex.org/W4401990178","https://openalex.org/W4403223137","https://openalex.org/W4403278668","https://openalex.org/W4403936647","https://openalex.org/W4406028217","https://openalex.org/W4407448715"],"related_works":["https://openalex.org/W2292082415","https://openalex.org/W2725184028","https://openalex.org/W4407761140","https://openalex.org/W3110875495","https://openalex.org/W2390068883","https://openalex.org/W2946812255","https://openalex.org/W2343471997","https://openalex.org/W3006542628","https://openalex.org/W2345277578","https://openalex.org/W1883703902"],"abstract_inverted_index":{"The":[0,47],"control":[1,91,182],"of":[2,26,49,56,80,144,162,169,173,212,227],"a":[3,30,44,136,145,150],"humanoid":[4],"robot":[5],"equipped":[6],"with":[7,194],"one":[8],"arm":[9,115,187],"and":[10,17,129,148,166,179,188,198,214],"multiple":[11],"fingers,":[12,189],"designed":[13],"primarily":[14,107],"for":[15,59,93,109,118,158,185],"grasping":[16,110,213],"manipulating":[18],"various":[19],"objects,":[20],"is":[21,29,72,116],"investigated.":[22],"Synchronizing":[23],"the":[24,27,38,54,64,78,81,84,94,98,104,111,114,126,131,141,156,159,163,167,170,174,186,205,224,231],"movements":[25],"fingers":[28,105],"challenging":[31],"task,":[32],"as":[33],"each":[34,60],"joint":[35,232],"must":[36],"reach":[37],"desired":[39],"angle":[40],"simultaneously":[41],"to":[42],"ensure":[43],"firm":[45],"grasp.":[46],"success":[48],"this":[50,102],"task":[51],"hinges":[52],"on":[53,140],"synchronization":[55],"convergence":[57],"times":[58],"finger":[61],"joint;":[62],"otherwise,":[63],"object":[65,112],"may":[66],"slip":[67],"or":[68,83,121],"escape.":[69],"This":[70],"challenge":[71],"further":[73],"intensified":[74],"by":[75],"uncertainties":[76],"in":[77,217,230],"dynamics":[79],"hand":[82],"object.":[85],"We":[86,176],"present":[87],"decentralized":[88,180],"prescribed-time":[89,164],"tracking":[90,165,225],"strategies":[92],"dynamical":[95],"system":[96],"comprising":[97],"arm-finger":[99],"combination.":[100],"In":[101],"system,":[103],"are":[106],"used":[108],"while":[113],"responsible":[117],"moving,":[119],"tilting,":[120],"flipping":[122],"it.":[123],"To":[124],"streamline":[125],"controller":[127,138],"structure":[128],"simplify":[130],"stability":[132,160],"analysis,":[133],"we":[134,203],"design":[135],"linear":[137],"based":[139],"maximum":[142],"eigenvalue":[143],"parameter":[146],"matrix":[147],"establish":[149],"new":[151],"technical":[152],"lemma,":[153],"which":[154],"paves":[155],"way":[157],"analysis":[161],"reduction":[168],"input":[171],"efforts":[172],"actuator.":[175],"develop":[177],"robust":[178],"adaptive":[181],"schemes":[183],"separately":[184],"achieving":[190],"better":[191],"transient":[192],"performance":[193,208,226],"less":[195],"prior":[196],"knowledge":[197],"lower":[199],"computation":[200],"costs.":[201],"Finally,":[202],"validate":[204],"proposed":[206],"controller's":[207],"through":[209],"kinematic":[210],"simulations":[211,221],"moving":[215],"tasks":[216],"3-D,":[218],"alongside":[219],"numerical":[220],"that":[222],"demonstrate":[223],"our":[228],"algorithm":[229],"space.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
