{"id":"https://openalex.org/W4411405187","doi":"https://doi.org/10.1109/tfuzz.2025.3580732","title":"Grasping State Analysis of Multi-DOF Soft Manipulators Based on Multimodal Sensing and Deep Spiking Fuzzy Network","display_name":"Grasping State Analysis of Multi-DOF Soft Manipulators Based on Multimodal Sensing and Deep Spiking Fuzzy Network","publication_year":2025,"publication_date":"2025-06-18","ids":{"openalex":"https://openalex.org/W4411405187","doi":"https://doi.org/10.1109/tfuzz.2025.3580732"},"language":"en","primary_location":{"id":"doi:10.1109/tfuzz.2025.3580732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2025.3580732","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","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":null,"display_name":"Haoyuan Wang","orcid":"https://orcid.org/0009-0009-9862-6848"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoyuan Wang","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0009-0009-9862-6848","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114803194","display_name":"Zhongzheng Fu","orcid":"https://orcid.org/0000-0001-6209-643X"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongzheng Fu","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0001-6209-643X","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053757616","display_name":"Andong Li","orcid":"https://orcid.org/0000-0003-4094-8448"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Andong Li","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005575016","display_name":"Lingling Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lujie Yi","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090418853","display_name":"Yuxiao Sun","orcid":"https://orcid.org/0009-0005-6505-1479"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiao Sun","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029939473","display_name":"Xinxing Chen","orcid":"https://orcid.org/0000-0002-6265-1226"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinxing Chen","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0002-6265-1226","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052437772","display_name":"Hao Wu","orcid":"https://orcid.org/0000-0003-1494-0848"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wu","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0003-1494-0848","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Huang","raw_affiliation_strings":["Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0002-6267-8824","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Brain-Inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology (HUST), Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43922553","https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":1.2684,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78400487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"33","issue":"8","first_page":"2397","last_page":"2410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9520999789237976,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9520999789237976,"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/computer-science","display_name":"Computer science","score":0.6434122323989868},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5945786237716675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5310611724853516},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44907787442207336},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4327372610569},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12128239870071411}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6434122323989868},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5945786237716675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5310611724853516},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44907787442207336},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4327372610569},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12128239870071411}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tfuzz.2025.3580732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2025.3580732","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5869961036","display_name":null,"funder_award_id":"U24A20280","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8178624887","display_name":null,"funder_award_id":"62333007","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2256016128","https://openalex.org/W2572730214","https://openalex.org/W2783338612","https://openalex.org/W2798878556","https://openalex.org/W2900898322","https://openalex.org/W2910189842","https://openalex.org/W2923548922","https://openalex.org/W2936900179","https://openalex.org/W2979879900","https://openalex.org/W2984844508","https://openalex.org/W2990499011","https://openalex.org/W2999325808","https://openalex.org/W3011137165","https://openalex.org/W3102486441","https://openalex.org/W3131287486","https://openalex.org/W3168997536","https://openalex.org/W3204721342","https://openalex.org/W3206824631","https://openalex.org/W3210371452","https://openalex.org/W4200518458","https://openalex.org/W4285066542","https://openalex.org/W4285601474","https://openalex.org/W4312384059","https://openalex.org/W4312531949","https://openalex.org/W4312947301","https://openalex.org/W4362654522","https://openalex.org/W4378192004","https://openalex.org/W4386201312","https://openalex.org/W4387409844","https://openalex.org/W4388560953","https://openalex.org/W4390881974","https://openalex.org/W4391697008","https://openalex.org/W4401945938","https://openalex.org/W4402040867","https://openalex.org/W4402726993","https://openalex.org/W4405785572","https://openalex.org/W6631190155","https://openalex.org/W6780226713","https://openalex.org/W6853666707"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W135622916"],"abstract_inverted_index":{"Current":[0],"research":[1],"on":[2],"grasping":[3,39,64,142],"state":[4,40],"analysis":[5,41,123],"in":[6,113,139],"soft":[7,47,67,117,145],"manipulators":[8,146],"is":[9,57],"limited":[10],"and":[11,30,70,74,96,111,115,135],"lacks":[12],"broad":[13],"applicability.":[14],"In":[15],"this":[16],"article,":[17],"we":[18],"introduce":[19],"a":[20,37],"novel":[21,77],"method":[22,106],"that":[23,103],"leverages":[24],"multimodal":[25],"data":[26],"from":[27],"flexible":[28],"sensors":[29],"Inertial":[31],"Measurement":[32],"Units":[33],"(IMUs)":[34],"to":[35,60,87],"develop":[36],"comprehensive":[38],"system":[42],"for":[43],"multidegree-of-freedom":[44],"(multi-DOF)":[45],"pneumatic":[46],"manipulators.":[48],"A":[49,76],"Deep":[50],"Spiking":[51],"High-Dimensional":[52],"Fuzzy":[53],"Network":[54],"(DSHTFN)":[55],"algorithm":[56],"specifically":[58],"designed":[59,86],"analyze":[61],"the":[62,80,89,127,131,136,141],"\u201c3S\u201d":[63],"states":[65,143],"of":[66,92,109,130,144],"manipulators\u2014shaking,":[68],"stable,":[69],"slipping\u2014with":[71],"greater":[72],"depth":[73],"precision.":[75],"membership":[78,133],"function,":[79,83],"BernoulliArctangent":[81],"(B-Atan)":[82],"has":[84,147],"been":[85,148],"accommodate":[88],"unique":[90],"characteristics":[91],"spiking":[93],"input":[94],"signals":[95],"support":[97],"backpropagation":[98],"capabilities.":[99],"Experimental":[100],"results":[101],"demonstrate":[102],"our":[104],"proposed":[105],"achieves":[107],"accuracies":[108],"95.66%":[110],"96.05%":[112],"opposing-finger":[114],"three-fingered":[116],"manipulator":[118],"operations,":[119],"respectively.":[120],"Through":[121],"comparative":[122],"with":[124],"other":[125],"algorithms,":[126],"superior":[128],"performance":[129],"B-Atan":[132],"function":[134],"DSHTFN":[137],"approach":[138],"analyzing":[140],"validated.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}