{"id":"https://openalex.org/W3192482050","doi":"https://doi.org/10.3390/s21165301","title":"Object Manipulation with an Anthropomorphic Robotic Hand via Deep Reinforcement Learning with a Synergy Space of Natural Hand Poses","display_name":"Object Manipulation with an Anthropomorphic Robotic Hand via Deep Reinforcement Learning with a Synergy Space of Natural Hand Poses","publication_year":2021,"publication_date":"2021-08-05","ids":{"openalex":"https://openalex.org/W3192482050","doi":"https://doi.org/10.3390/s21165301","mag":"3192482050","pmid":"https://pubmed.ncbi.nlm.nih.gov/34450741"},"language":"en","primary_location":{"id":"doi:10.3390/s21165301","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165301","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5301/pdf?version=1628218351","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/16/5301/pdf?version=1628218351","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084726485","display_name":"Patricio Rivera","orcid":"https://orcid.org/0000-0001-6440-5478"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Patricio Rivera","raw_affiliation_strings":["Department of Electronics and Information Convergence Engineering, Kyung Hee University, Yongin 17104, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Convergence Engineering, Kyung Hee University, Yongin 17104, Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017083347","display_name":"Edwin Valarezo A\u00f1azco","orcid":"https://orcid.org/0000-0003-0077-8528"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Edwin Valarezo A\u00f1azco","raw_affiliation_strings":["Department of Electronics and Information Convergence Engineering, Kyung Hee University, Yongin 17104, Korea"],"raw_orcid":"https://orcid.org/0000-0003-0077-8528","affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Convergence Engineering, Kyung Hee University, Yongin 17104, Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113729976","display_name":"Tae-Seong Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Tae-Seong Kim","raw_affiliation_strings":["Department of Electronics and Information Convergence Engineering, Kyung Hee University, Yongin 17104, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Convergence Engineering, Kyung Hee University, Yongin 17104, Korea","institution_ids":["https://openalex.org/I35928602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113729976"],"corresponding_institution_ids":["https://openalex.org/I35928602"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.6651,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8385505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"21","issue":"16","first_page":"5301","last_page":"5301"},"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":0.9976000189781189,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9965999722480774,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.665668249130249},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6165145039558411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6057514548301697},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5943611264228821},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5781397819519043},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5383307933807373},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4765354096889496},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44682589173316956},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.42510128021240234},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33114805817604065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06923839449882507}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.665668249130249},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6165145039558411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6057514548301697},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5943611264228821},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5781397819519043},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5383307933807373},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4765354096889496},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44682589173316956},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.42510128021240234},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33114805817604065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06923839449882507},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21165301","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165301","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5301/pdf?version=1628218351","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:34450741","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34450741","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:ff9d3954584440a8949d86fa3f48a0b6","is_oa":true,"landing_page_url":"https://doaj.org/article/ff9d3954584440a8949d86fa3f48a0b6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 16, p 5301 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/16/5301/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21165301","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 21; Issue 16; Pages: 5301","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8400557","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8400557","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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21165301","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165301","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5301/pdf?version=1628218351","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G5233055659","display_name":null,"funder_award_id":"NRF-2019R1A2C1003713","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3192482050.pdf","grobid_xml":"https://content.openalex.org/works/W3192482050.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W299440670","https://openalex.org/W1517508454","https://openalex.org/W1888892744","https://openalex.org/W2063149136","https://openalex.org/W2122331303","https://openalex.org/W2130007788","https://openalex.org/W2130801532","https://openalex.org/W2154006563","https://openalex.org/W2158782408","https://openalex.org/W2164575107","https://openalex.org/W2210408922","https://openalex.org/W2261736307","https://openalex.org/W2415726935","https://openalex.org/W2560609797","https://openalex.org/W2587284713","https://openalex.org/W2752997159","https://openalex.org/W2788862220","https://openalex.org/W2805951688","https://openalex.org/W2808746463","https://openalex.org/W2889939141","https://openalex.org/W2890031154","https://openalex.org/W2913919845","https://openalex.org/W2927210599","https://openalex.org/W2934245910","https://openalex.org/W2935239770","https://openalex.org/W2947336389","https://openalex.org/W2950069298","https://openalex.org/W2953952425","https://openalex.org/W2962746398","https://openalex.org/W2963326767","https://openalex.org/W2963411833","https://openalex.org/W2963678509","https://openalex.org/W2980216391","https://openalex.org/W2986615800","https://openalex.org/W2990747716","https://openalex.org/W3003177118","https://openalex.org/W3090299930","https://openalex.org/W3104073816","https://openalex.org/W3127352841","https://openalex.org/W6610566761","https://openalex.org/W6679257226","https://openalex.org/W6733471323","https://openalex.org/W6752307458","https://openalex.org/W6764969207"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2657478029","https://openalex.org/W2626503888","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Anthropomorphic":[0],"robotic":[1,31,70],"hands":[2],"are":[3],"designed":[4],"to":[5,24,49],"attain":[6],"dexterous":[7],"movements":[8],"and":[9,61,105,117,170],"flexibility":[10],"much":[11],"like":[12],"human":[13,95],"hands.":[14],"Achieving":[15],"human-like":[16,155],"object":[17,115,133,163],"manipulation":[18,134],"remains":[19],"a":[20,34,44,51,54,78,111],"challenge":[21],"especially":[22],"due":[23],"the":[25,29,102,132,137,149,159],"control":[26],"complexity":[27],"of":[28,37,63,86,129,161],"anthropomorphic":[30,69],"hand":[32,91,108],"with":[33,83],"high":[35],"degree":[36],"freedom.":[38],"In":[39],"this":[40],"work,":[41],"we":[42],"propose":[43],"deep":[45,112],"reinforcement":[46],"learning":[47],"(DRL)":[48],"train":[50],"policy":[52,100,153],"using":[53,67,77],"synergy":[55,73,141],"space":[56,74,142],"for":[57,114,131],"generating":[58],"natural":[59,90,107],"grasping":[60,96,116],"relocation":[62,118],"variously":[64],"shaped":[65],"objects":[66],"an":[68,125],"hand.":[71],"A":[72],"is":[75],"created":[76],"continuous":[79],"normalizing":[80],"flow":[81],"network":[82],"point":[84],"clouds":[85],"haptic":[87],"areas,":[88],"representing":[89],"poses":[92,109],"obtained":[93],"from":[94],"demonstrations.":[97],"The":[98],"DRL":[99,123,139,152],"accesses":[101],"synergistic":[103],"representation":[104],"derives":[106],"through":[110],"regressor":[113],"tasks.":[119],"Our":[120],"proposed":[121,150],"synergy-based":[122,151],"achieves":[124,144],"average":[126],"success":[127],"rate":[128],"88.38%":[130],"tasks,":[135],"while":[136],"standard":[138],"without":[140],"only":[143],"50.66%.":[145],"Qualitative":[146],"results":[147],"show":[148],"produces":[154],"finger":[156],"placements":[157],"over":[158],"surface":[160],"each":[162],"including":[164],"apple,":[165],"banana,":[166],"flashlight,":[167],"camera,":[168],"lightbulb,":[169],"hammer.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}