{"id":"https://openalex.org/W4399452036","doi":"https://doi.org/10.1109/tro.2024.3410130","title":"Robust Visual Feedback Control for Precise In-Hand Manipulation Using Parallel Soft Actuators","display_name":"Robust Visual Feedback Control for Precise In-Hand Manipulation Using Parallel Soft Actuators","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399452036","doi":"https://doi.org/10.1109/tro.2024.3410130"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3410130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3410130","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5036073690","display_name":"Yoshiki Mori","orcid":"https://orcid.org/0000-0002-6223-8634"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Mori","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Ibaraki, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6223-8634","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Ibaraki, Osaka, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031793372","display_name":"Ming\u2010Zhu Zhu","orcid":"https://orcid.org/0009-0009-9704-1215"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhu Zhu","raw_affiliation_strings":["Northwestern Polytechnical University, Xi&#x0027;an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0009-0009-9704-1215","affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi&#x0027;an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052923309","display_name":"Sadao Kawamura","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sadao Kawamura","raw_affiliation_strings":["Ritsumeikan Global Innovation Research Organization, Ritsumeikan University, Kusatsu, Shiga, Japan"],"raw_orcid":"https://orcid.org/0009-0007-5084-5115","affiliations":[{"raw_affiliation_string":"Ritsumeikan Global Innovation Research Organization, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3729,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53268696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"40","issue":null,"first_page":"3097","last_page":"3108"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9934999942779541,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9934999942779541,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9793000221252441,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6683765053749084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6291188597679138},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5808266997337341},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5597911477088928},{"id":"https://openalex.org/keywords/visual-feedback","display_name":"Visual feedback","score":0.5512149333953857},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5353186130523682},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5146883130073547},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46883219480514526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4679872989654541},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46342623233795166},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45285043120384216},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4249637722969055},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38043296337127686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3132878541946411},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24750468134880066}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6683765053749084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6291188597679138},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5808266997337341},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5597911477088928},{"id":"https://openalex.org/C3020716817","wikidata":"https://www.wikidata.org/wiki/Q4132092","display_name":"Visual feedback","level":2,"score":0.5512149333953857},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5353186130523682},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5146883130073547},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46883219480514526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4679872989654541},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46342623233795166},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45285043120384216},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4249637722969055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38043296337127686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3132878541946411},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24750468134880066},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3410130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3410130","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1515749184","https://openalex.org/W1798507116","https://openalex.org/W1888892744","https://openalex.org/W1987857228","https://openalex.org/W2131004691","https://openalex.org/W2138950221","https://openalex.org/W2155892387","https://openalex.org/W2165156724","https://openalex.org/W2205969003","https://openalex.org/W2323829687","https://openalex.org/W2412969968","https://openalex.org/W2414388112","https://openalex.org/W2560704029","https://openalex.org/W2608405054","https://openalex.org/W2614107499","https://openalex.org/W2752997159","https://openalex.org/W2766759288","https://openalex.org/W2784648116","https://openalex.org/W2892016056","https://openalex.org/W2910763652","https://openalex.org/W2938159670","https://openalex.org/W2947091406","https://openalex.org/W2972031096","https://openalex.org/W2980852688","https://openalex.org/W3005933886","https://openalex.org/W3031484504","https://openalex.org/W3036934592","https://openalex.org/W3040887933","https://openalex.org/W3080591218","https://openalex.org/W3089386015","https://openalex.org/W3128795238","https://openalex.org/W3152726255","https://openalex.org/W3168035892","https://openalex.org/W3174167970","https://openalex.org/W3185525136","https://openalex.org/W4200556188","https://openalex.org/W4243336315","https://openalex.org/W4285149089"],"related_works":["https://openalex.org/W3196562368","https://openalex.org/W2964507111","https://openalex.org/W4224012632","https://openalex.org/W3007236091","https://openalex.org/W1982574520","https://openalex.org/W2400220752","https://openalex.org/W3004000903","https://openalex.org/W2569707862","https://openalex.org/W4310591870","https://openalex.org/W1975009760"],"abstract_inverted_index":{"Soft":[0],"robotic":[1],"hands":[2],"are":[3,31],"reliable":[4],"for":[5,49],"grasping":[6],"objects":[7,21],"of":[8,19,27,74,101,108,157,172,187],"various":[9],"shapes.":[10],"However,":[11,141],"they":[12],"perform":[13,179],"poorly":[14],"in":[15,37,70,131,150],"the":[16,23,65,71,79,85,89,99,102,105,109,113,118,155,158,170,173,185,188,194],"high-precision":[17],"manipulation":[18,52,62],"grasped":[20,90],"because":[22],"modeling":[24],"and":[25,104,135,197],"sensing":[26],"soft":[28,55,66,110],"actuator":[29,67,80],"deformation":[30],"complex.":[32],"To":[33],"overcome":[34],"this":[35,151],"problem,":[36],"a":[38,43,75,128,163,180],"previous":[39,133],"study,":[40],"we":[41,124,153,168,178],"proposed":[42,189],"robust":[44],"visual":[45],"feedback":[46,72],"control":[47,73],"method":[48,58,190],"precise":[50,60],"in-hand":[51,61],"using":[53],"parallel":[54,76],"actuators.":[56],"This":[57],"enables":[59],"without":[63],"measuring":[64,117],"deformations.":[68],"Generally,":[69],"drive":[77,175],"system,":[78],"force":[81],"is":[82,121,191],"converted":[83],"into":[84],"force/torque":[86],"applied":[87],"to":[88],"object.":[91,114],"The":[92],"conversion":[93,119],"matrix":[94,120,130,161],"constantly":[95],"changes":[96],"depending":[97],"on":[98],"position/orientation":[100],"object":[103],"contact":[106],"points":[107],"actuators":[111],"with":[112],"Consequently,":[115],"accurately":[116],"difficult.":[122],"Therefore,":[123,149],"estimated":[125,159,174],"it":[126],"as":[127],"constant":[129,160],"our":[132],"studies,":[134],"its":[136,142],"robustness":[137,144,156,182,186],"was":[138,145],"confirmed":[139],"experimentally.":[140],"theoretical":[143],"not":[146],"analyzed":[147],"sufficiently.":[148],"article,":[152],"discuss":[154],"through":[162],"mathematical":[164],"stability":[165],"proof.":[166],"Furthermore,":[167],"investigate":[169],"characteristics":[171],"matrix.":[176],"Then,":[177],"numerical":[181],"analysis.":[183],"Finally,":[184],"studied":[192],"via":[193],"above":[195],"investigation":[196],"verification":[198],"experiments.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
