{"id":"https://openalex.org/W4283726971","doi":"https://doi.org/10.1109/tnnls.2022.3184258","title":"Multifingered Robot Hand Compliant Manipulation Based on Vision-Based Demonstration and Adaptive Force Control","display_name":"Multifingered Robot Hand Compliant Manipulation Based on Vision-Based Demonstration and Adaptive Force Control","publication_year":2022,"publication_date":"2022-06-29","ids":{"openalex":"https://openalex.org/W4283726971","doi":"https://doi.org/10.1109/tnnls.2022.3184258","pmid":"https://pubmed.ncbi.nlm.nih.gov/35767493"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2022.3184258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3184258","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","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/A5101850794","display_name":"Chao Zeng","orcid":"https://orcid.org/0000-0003-3648-4644"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chao Zeng","raw_affiliation_strings":["Department of Informatics, Technical Aspects of Multimodal Systems (TAMS) Group, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3648-4644","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical Aspects of Multimodal Systems (TAMS) Group, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415898","display_name":"Shuang Li","orcid":"https://orcid.org/0000-0002-0690-1331"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shuang Li","raw_affiliation_strings":["Department of Informatics, Technical Aspects of Multimodal Systems (TAMS) Group, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0690-1331","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical Aspects of Multimodal Systems (TAMS) Group, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaopeng Chen","raw_affiliation_strings":["Agile Robots AG, München, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agile Robots AG, München, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3546-6305","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Department of Informatics, Technical Aspects of Multimodal Systems (TAMS) Group, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7856-5760","affiliations":[{"raw_affiliation_string":"Department of Informatics, Technical Aspects of Multimodal Systems (TAMS) Group, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.3953,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.9648914,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"34","issue":"9","first_page":"5452","last_page":"5463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9973000288009644,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6178501844406128},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6106584668159485},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5998770594596863},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.574817419052124},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5185480713844299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.517549455165863},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.51543128490448},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5111029744148254},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43481725454330444},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4157651960849762},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4024989902973175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3826468586921692},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34347355365753174},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18187487125396729}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6178501844406128},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6106584668159485},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5998770594596863},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.574817419052124},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5185480713844299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.517549455165863},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.51543128490448},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5111029744148254},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43481725454330444},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4157651960849762},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4024989902973175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3826468586921692},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34347355365753174},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18187487125396729},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2022.3184258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3184258","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:35767493","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35767493","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 neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3923653779","display_name":null,"funder_award_id":"410916101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"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":51,"referenced_works":["https://openalex.org/W1548528537","https://openalex.org/W2025943982","https://openalex.org/W2059586757","https://openalex.org/W2080487795","https://openalex.org/W2100658034","https://openalex.org/W2111528514","https://openalex.org/W2518197379","https://openalex.org/W2564823405","https://openalex.org/W2598908072","https://openalex.org/W2606965392","https://openalex.org/W2748628104","https://openalex.org/W2793264449","https://openalex.org/W2795550549","https://openalex.org/W2803694791","https://openalex.org/W2883002567","https://openalex.org/W2889810779","https://openalex.org/W2889969363","https://openalex.org/W2894714230","https://openalex.org/W2910474428","https://openalex.org/W2911549659","https://openalex.org/W2950069298","https://openalex.org/W2955791868","https://openalex.org/W2965848547","https://openalex.org/W2967068439","https://openalex.org/W2967695057","https://openalex.org/W2972404073","https://openalex.org/W2980410359","https://openalex.org/W2997581345","https://openalex.org/W3005426010","https://openalex.org/W3006239966","https://openalex.org/W3007398464","https://openalex.org/W3014041360","https://openalex.org/W3022253254","https://openalex.org/W3080772040","https://openalex.org/W3083724672","https://openalex.org/W3091133300","https://openalex.org/W3094605036","https://openalex.org/W3128104326","https://openalex.org/W3129756265","https://openalex.org/W3132029337","https://openalex.org/W3132708124","https://openalex.org/W3135804031","https://openalex.org/W3159433460","https://openalex.org/W3167796319","https://openalex.org/W3186125447","https://openalex.org/W3195050720","https://openalex.org/W3199344794","https://openalex.org/W3200270133","https://openalex.org/W6755205166","https://openalex.org/W6777058929","https://openalex.org/W6802016001"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W4229452671","https://openalex.org/W2329399298","https://openalex.org/W2576722732"],"abstract_inverted_index":{"Multifingered":[0],"hand":[1,51,91,99,106,133,137],"dexterous":[2],"manipulation":[3,35,238],"is":[4,15,68,82,116,144],"quite":[5],"challenging":[6],"in":[7,100,155,201],"the":[8,45,49,56,61,71,86,89,93,97,104,120,127,131,135,139,151,162,171,174,182,188,193,216,226],"domain":[9],"of":[10,37,48,88,96,150,173,181],"robotics.":[11],"One":[12],"remaining":[13],"issue":[14],"how":[16],"to":[17,84,92,118,190],"achieve":[18],"compliant":[19,32,108,235],"behaviors.":[20,239],"In":[21],"this":[22],"work,":[23],"we":[24],"propose":[25],"a":[26,38,147,210],"human-in-the-loop":[27],"learning-control":[28],"approach":[29,43,197],"for":[30,60,70,233],"acquiring":[31],"grasping":[33,236],"and":[34,54,74,134,166,184,204,219,237],"skills":[36],"multifinger":[39],"robot":[40,98,105,132,189,212],"hand.":[41],"This":[42],"takes":[44],"depth":[46],"image":[47],"human":[50,90,136,156],"as":[52],"input":[53],"generates":[55],"desired":[57,121],"force":[58,113,122,142],"commands":[59,124],"robot.":[62],"The":[63,141,178],"markerless":[64],"vision-based":[65],"teleoperation":[66],"system":[67],"used":[69,229],"task":[72,206],"demonstration,":[73],"an":[75,111],"end-to-end":[76],"neural":[77],"network":[78],"model":[79,149],"(i.e.,":[80],"TeachNet)":[81],"trained":[83],"map":[85],"pose":[87,128],"joint":[94,176],"angles":[95],"real-time.":[101],"To":[102],"endow":[103],"with":[107,192],"human-like":[109],"behaviors,":[110],"adaptive":[112],"control":[114,123,153,163,231],"strategy":[115,154],"designed":[117],"predict":[119],"based":[125,208],"on":[126,209],"difference":[129],"between":[130],"during":[138,170],"demonstration.":[140],"controller":[143],"derived":[145],"from":[146],"computational":[148],"biomimetic":[152],"motor":[157],"learning,":[158],"which":[159],"allows":[160],"adapting":[161],"variables":[164],"(impedance":[165],"feedforward":[167,185],"force)":[168],"online":[169],"execution":[172],"reference":[175],"angles.":[177],"simultaneous":[179],"adaptation":[180],"impedance":[183],"profiles":[186],"enables":[187],"interact":[191],"environment":[194],"compliantly.":[195],"Our":[196],"has":[198,220],"been":[199],"verified":[200],"both":[202],"simulation":[203],"real-world":[205],"scenarios":[207],"multifingered":[211],"hand,":[213],"that":[214],"is,":[215],"Shadow":[217],"Hand,":[218],"shown":[221],"more":[222],"reliable":[223],"performances":[224],"than":[225],"current":[227],"widely":[228],"position":[230],"mode":[232],"obtaining":[234]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}