{"id":"https://openalex.org/W7124174071","doi":"https://doi.org/10.3390/robotics15010022","title":"Vision-Guided Grasp Planning for Prosthetic Hands with AABB-Based Object Representation","display_name":"Vision-Guided Grasp Planning for Prosthetic Hands with AABB-Based Object Representation","publication_year":2026,"publication_date":"2026-01-14","ids":{"openalex":"https://openalex.org/W7124174071","doi":"https://doi.org/10.3390/robotics15010022"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15010022","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010022","pdf_url":"https://www.mdpi.com/2218-6581/15/1/22/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/15/1/22/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076184368","display_name":"Shifa Sulaiman","orcid":"https://orcid.org/0000-0002-5330-0053"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Shifa Sulaiman","raw_affiliation_strings":["Control and Automation Section, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-5330-0053","affiliations":[{"raw_affiliation_string":"Control and Automation Section, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106154188","display_name":"Akash Bachhar","orcid":null},"institutions":[{"id":"https://openalex.org/I155837530","display_name":"National Institute of Technology Durgapur","ror":"https://ror.org/04ds0jm32","country_code":"IN","type":"education","lineage":["https://openalex.org/I155837530"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Akash Bachhar","raw_affiliation_strings":["Department of Mechanical Engineering, National Institute of Technology, Durgapur 713209, India"],"raw_orcid":"https://orcid.org/0009-0008-6994-716X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Institute of Technology, Durgapur 713209, India","institution_ids":["https://openalex.org/I155837530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083828440","display_name":"Ming Shen","orcid":"https://orcid.org/0000-0003-1219-225X"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Ming Shen","raw_affiliation_strings":["The Technical Faculty of IT and Design Antennas, Propagation and Millimeter-Wave Systems, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Technical Faculty of IT and Design Antennas, Propagation and Millimeter-Wave Systems, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122349166","display_name":"Simon B\u00f8gh","orcid":null},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Simon B\u00f8gh","raw_affiliation_strings":["Control and Automation Section, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Automation Section, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":7.0496,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93357297,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"15","issue":"1","first_page":"22","last_page":"22"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.972000002861023,"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":0.972000002861023,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.007000000216066837,"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"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.004100000020116568,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6553999781608582},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.47769999504089355},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.42590001225471497},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41760000586509705},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.398499995470047},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.39100000262260437},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.3887999951839447},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.3792000114917755},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3752000033855438}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6723999977111816},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6553999781608582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.621999979019165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5753999948501587},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.47769999504089355},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.42590001225471497},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41760000586509705},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.398499995470047},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39100000262260437},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3792000114917755},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3752000033855438},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.37310001254081726},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.36980000138282776},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3610999882221222},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3596000075340271},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3352999985218048},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.33379998803138733},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.320499986410141},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2703999876976013},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25220000743865967}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics15010022","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010022","pdf_url":"https://www.mdpi.com/2218-6581/15/1/22/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/9d5ac3f9-a884-466c-8425-e019667adfe2","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/9d5ac3f9-a884-466c-8425-e019667adfe2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sulaiman, S, Bachhar, A, Shen, M & B\u00f8gh, S 2026, 'Vision-Guided Grasp Planning for Prosthetic Hands with AABB-Based Object Representation', Robotics, vol. 15, no. 1, 22. https://doi.org/10.3390/robotics15010022","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:8d914dce4635476ca5eaed9e9495662c","is_oa":true,"landing_page_url":"https://doaj.org/article/8d914dce4635476ca5eaed9e9495662c","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":"Robotics, Vol 15, Iss 1, p 22 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15010022","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010022","pdf_url":"https://www.mdpi.com/2218-6581/15/1/22/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.43950262665748596}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7124174071.pdf","grobid_xml":"https://content.openalex.org/works/W7124174071.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1525023034","https://openalex.org/W2010426277","https://openalex.org/W2025937932","https://openalex.org/W2119902046","https://openalex.org/W2134418753","https://openalex.org/W2890493039","https://openalex.org/W2891810947","https://openalex.org/W2911549659","https://openalex.org/W3007375787","https://openalex.org/W3044538930","https://openalex.org/W3207781047","https://openalex.org/W4226413077","https://openalex.org/W4283726971","https://openalex.org/W4384159332","https://openalex.org/W4384159358","https://openalex.org/W4386071465","https://openalex.org/W4390480944","https://openalex.org/W4401748238","https://openalex.org/W4410118226","https://openalex.org/W4415003986","https://openalex.org/W4416748443","https://openalex.org/W7123011319"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,33,165,199,213],"prosthetic":[3,24,49],"technology":[4],"have":[5],"increasingly":[6],"focused":[7],"on":[8,37,62,113,202,218],"enhancing":[9],"dexterity":[10],"and":[11,54,69,85,107,121,197,215],"autonomy":[12],"through":[13,194],"intelligent":[14],"control":[15,55],"systems.":[16],"Vision-based":[17],"approaches":[18],"offer":[19],"promising":[20],"results":[21],"for":[22,47,56,83,161],"enabling":[23,133],"hands":[25],"to":[26,79,147,157,169],"interact":[27],"more":[28],"naturally":[29],"with":[30],"diverse":[31],"objects":[32],"dynamic":[34],"environments.":[35],"Building":[36],"this":[38,166],"foundation,":[39],"the":[40,63,67,114,122,149,158,203],"paper":[41],"presents":[42],"a":[43,48,70,171,180,219],"vision-guided":[44],"grasping":[45,84],"algorithm":[46,76],"hand,":[50],"integrating":[51],"perception,":[52],"planning,":[53],"dexterous":[57],"manipulation.":[58],"A":[59],"camera":[60],"mounted":[61],"set":[64],"up":[65],"captures":[66],"scene,":[68],"Bounding":[71],"Volume":[72],"Hierarchy":[73],"(BVH)-based":[74],"vision":[75],"is":[77,130,145,211],"employed":[78],"segment":[80],"an":[81,187],"object":[82],"define":[86],"its":[87],"bounding":[88],"box.":[89],"Grasp":[90],"contact":[91],"points":[92],"are":[93,154],"then":[94],"computed":[95],"by":[96],"generating":[97],"candidate":[98],"trajectories":[99,120],"using":[100],"Rapidly-exploring":[101],"Random":[102],"Tree":[103],"Star":[104],"(RRT*)":[105],"algorithm,":[106],"selecting":[108],"fingertip":[109,176],"end":[110],"poses":[111,177],"based":[112,141],"minimum":[115],"Euclidean":[116],"distance":[117],"between":[118],"these":[119],"object\u2019s":[123],"point":[124],"cloud.":[125],"Each":[126],"finger\u2019s":[127],"grasp":[128],"pose":[129],"determined":[131],"independently,":[132],"adaptive,":[134],"object-specific":[135],"configurations.":[136],"Damped":[137],"Least":[138],"Square":[139],"(DLS)":[140],"Inverse":[142],"kinematics":[143],"solver":[144],"used":[146],"compute":[148],"corresponding":[150],"joint":[151],"angles,":[152],"which":[153],"subsequently":[155],"transmitted":[156],"finger":[159],"actuators":[160],"execution.":[162],"Our":[163],"intention":[164],"work":[167],"was":[168],"present":[170],"proof-of-concept":[172],"pipeline":[173],"demonstrating":[174],"that":[175],"derived":[178],"from":[179],"simple,":[181],"computationally":[182],"lightweight":[183],"geometric":[184],"representation,":[185],"specifically":[186],"AABB-based":[188],"segmentation":[189],"can":[190],"be":[191],"successfully":[192],"propagated":[193],"per-finger":[195],"planning":[196],"executed":[198],"real":[200],"time":[201],"Linker":[204,220],"Hand":[205,221],"O7":[206,222],"platform.":[207,223],"The":[208],"proposed":[209],"method":[210],"validated":[212],"simulation,":[214],"experimental":[216],"integration":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-01-15T00:00:00"}