{"id":"https://openalex.org/W7128429338","doi":"https://doi.org/10.3389/frobt.2026.1735467","title":"Calibration-free per-finger force-feedback slip control for grasping by anthropomorphic hand with tri-axial tactile sensors","display_name":"Calibration-free per-finger force-feedback slip control for grasping by anthropomorphic hand with tri-axial tactile sensors","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128429338","doi":"https://doi.org/10.3389/frobt.2026.1735467","pmid":"https://pubmed.ncbi.nlm.nih.gov/41736918"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2026.1735467","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1735467","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1735467/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1735467/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006726732","display_name":"Dickson Chiu Yu Wong","orcid":"https://orcid.org/0000-0001-6231-8573"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dickson Chiu Yu Wong","raw_affiliation_strings":["Department of Mechanical Engineering, York University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, York University","institution_ids":["https://openalex.org/I192455969"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101705529","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0002-2688-9915"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zheng H. Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, York University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, York University","institution_ids":["https://openalex.org/I192455969"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I192455969"],"apc_list":{"value":1950,"currency":"CHF","value_usd":2353},"apc_paid":{"value":1950,"currency":"CHF","value_usd":2353},"fwci":3.7692,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89780146,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"1735467","last_page":"1735467"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.84579998254776,"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":0.84579998254776,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.047200001776218414,"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/T10868","display_name":"Soft Robotics and Applications","score":0.032600000500679016,"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/grasp","display_name":"GRASP","score":0.8529000282287598},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.718500018119812},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6947000026702881},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6916000247001648},{"id":"https://openalex.org/keywords/normal-force","display_name":"Normal force","score":0.5063999891281128},{"id":"https://openalex.org/keywords/piezoresistive-effect","display_name":"Piezoresistive effect","score":0.45840001106262207},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4140999913215637},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.40869998931884766},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.382999986410141}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8529000282287598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7358999848365784},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.718500018119812},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6947000026702881},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6916000247001648},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.5063999891281128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4659999907016754},{"id":"https://openalex.org/C198490522","wikidata":"https://www.wikidata.org/wiki/Q1932915","display_name":"Piezoresistive effect","level":2,"score":0.45840001106262207},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45100000500679016},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4140999913215637},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.40869998931884766},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.382999986410141},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.3749000132083893},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3634999990463257},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34450000524520874},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3409000039100647},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.31700000166893005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2971000075340271},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.2761000096797943},{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.27079999446868896},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2026.1735467","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1735467","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1735467/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41736918","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41736918","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":"Frontiers in robotics and AI","raw_type":"Journal Article"},{"id":"pmh:oai:doaj.org/article:2bda7dae55d843b28320818ae5ed6e08","is_oa":true,"landing_page_url":"https://doaj.org/article/2bda7dae55d843b28320818ae5ed6e08","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 13 (2026)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:12926654","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC12926654/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2026.1735467","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2026.1735467","pdf_url":"https://public-pages-files-2025.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2026.1735467/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6849888563156128,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G2332746089","display_name":null,"funder_award_id":"RGPIN- 2024-06290","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8114285215","display_name":"Smart Autonomous Robotic Technology for Space Exploration (SMART-ART)","funder_award_id":"555425-2021","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7128429338.pdf","grobid_xml":"https://content.openalex.org/works/W7128429338.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W2000657722","https://openalex.org/W2040114039","https://openalex.org/W2125790828","https://openalex.org/W2157779618","https://openalex.org/W2325845790","https://openalex.org/W2564118857","https://openalex.org/W2598945502","https://openalex.org/W2890084868","https://openalex.org/W2890843008","https://openalex.org/W2950069298","https://openalex.org/W2967434365","https://openalex.org/W3016926102","https://openalex.org/W3164942326","https://openalex.org/W3170072611","https://openalex.org/W3172917672","https://openalex.org/W3191333746","https://openalex.org/W4220892487","https://openalex.org/W4229447536","https://openalex.org/W4283785642","https://openalex.org/W4285601474","https://openalex.org/W4312947301","https://openalex.org/W4327606277","https://openalex.org/W4361860506","https://openalex.org/W4362589115","https://openalex.org/W4383212203","https://openalex.org/W4386201312","https://openalex.org/W4387429503","https://openalex.org/W4390985370","https://openalex.org/W4391827351","https://openalex.org/W4393385121","https://openalex.org/W4394824370","https://openalex.org/W4401163822","https://openalex.org/W4402040867","https://openalex.org/W4402469576","https://openalex.org/W4404307332","https://openalex.org/W4407184960","https://openalex.org/W4409168415","https://openalex.org/W4410226436","https://openalex.org/W4412505497","https://openalex.org/W4413009282","https://openalex.org/W4413887115"],"related_works":[],"abstract_inverted_index":{"This":[0,35,244],"paper":[1],"addresses":[2],"the":[3,18,49,61,109,120,146,187,225,230],"challenge":[4],"of":[5,14,20,108],"detecting":[6,134],"and":[7,48,76,87,114,160,172,183,190,210,217,240,255],"recovering":[8],"from":[9,96,102,125],"slip":[10,99,147,201],"during":[11],"robotic":[12],"grasping":[13],"unknown":[15],"objects,":[16],"with":[17,39,84,168],"objective":[19],"establishing":[21],"a":[22,77,91,126,130,179,184,247],"robust":[23],"no":[24],"on-site":[25],"or":[26,65,264],"per-object":[27],"calibration":[28],"slip-recovery":[29],"controller":[30],"for":[31,63,250],"an":[32,176],"anthropomorphic":[33],"hand.":[34],"hand":[36],"is":[37,52,100,117],"equipped":[38],"tri-axial":[40],"piezoresistive":[41],"tactile":[42,72],"force":[43,122,141,194,235],"sensors":[44],"on":[45,166,237],"each":[46,136],"finger,":[47,232],"proposed":[50,58],"approach":[51,245],"validated":[53],"through":[54],"experimental":[55],"analysis.":[56],"The":[57,197,221],"methodology":[59],"eliminates":[60],"need":[62],"object-":[64],"pose-specific":[66],"calibration,":[67],"explicit":[68],"friction":[69],"modelling,":[70],"dense":[71],"arrays,":[73],"line-of-sight":[74],"vision,":[75],"data-hungry":[78],"learning":[79],"process,":[80],"enabling":[81],"real-time":[82],"implementation":[83],"minimal":[85],"computation":[86],"integration":[88],"effort.":[89],"Using":[90],"commonly":[92],"acquired":[93],"online":[94],"baseline":[95,128],"initial":[97],"readings,":[98],"detected":[101],"relative":[103],"changes":[104],"between":[105],"consecutive":[106],"samples":[107],"baseline-subtracted":[110],"resultant":[111],"tangential":[112],"force,":[113],"object":[115,161,208],"engagement":[116],"determined":[118],"when":[119],"normal":[121],"reading":[123],"deviates":[124],"no-slip":[127],"beyond":[129],"preset":[131],"threshold.":[132],"Upon":[133],"slip,":[135],"finger":[137,154],"increases":[138,236],"its":[139],"gripping":[140,193],"in":[142,153,192,256],"closed-loop":[143],"control":[144,155],"until":[145],"stops,":[148],"while":[149],"enforcing":[150],"motor-current":[151],"protection":[152],"to":[156],"prevent":[157],"actuator":[158],"overload":[159],"damage.":[162],"Experiments":[163],"were":[164,195],"conducted":[165],"objects":[167],"different":[169,214],"rigidity,":[170],"weight,":[171],"surface":[173],"textures,":[174],"including":[175],"aluminium":[177],"tube,":[178],"plastic":[180],"water":[181],"bottle,":[182],"sponge.":[185],"Additionally,":[186],"response":[188,202],"time":[189],"variations":[191],"evaluated.":[196],"results":[198],"demonstrate":[199],"rapid":[200],"via":[203],"localized":[204],"per-finger":[205,222],"correction,":[206],"good":[207],"conformability,":[209],"effective":[211],"re-stabilization":[212],"under":[213],"lifting":[215],"speeds":[216],"sudden":[218],"external":[219],"disturbances.":[220],"design":[223],"utilizes":[224],"minimum":[226],"necessary":[227],"correction":[228],"at":[229],"offending":[231],"reducing":[233],"unnecessary":[234],"other":[238],"fingers":[239],"improving":[241],"grasp":[242],"efficiency.":[243],"represents":[246],"practical":[248],"solution":[249],"warehouse":[251],"picking,":[252],"human\u2013robot":[253],"collaboration,":[254],"situ":[257],"manipulation":[258],"where":[259],"task-specific":[260],"calibrations,":[261],"visual":[262],"access,":[263],"training":[265],"datasets":[266],"are":[267],"impractical.":[268]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2026-02-10T00:00:00"}
