{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T06:44:19Z","timestamp":1765349059974,"version":"3.46.0"},"reference-count":47,"publisher":"Springer Science and Business Media LLC","issue":"4-6","license":[{"start":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T00:00:00Z","timestamp":1757030400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T00:00:00Z","timestamp":1757030400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"DOI":"10.1007\/s00422-025-01023-3","type":"journal-article","created":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T02:20:06Z","timestamp":1757038806000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Optimal position fuzzy control for coordinated movement of the ring and little fingers in an impaired human hand"],"prefix":"10.1007","volume":"119","author":[{"given":"Maryam","family":"Iqbal","sequence":"first","affiliation":[]},{"given":"Sabtain","family":"Rasool","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,9,5]]},"reference":[{"issue":"6","key":"1023_CR1","doi-asserted-by":"publisher","first-page":"839","DOI":"10.1108\/IR-05-2019-0110","volume":"46","author":"A Abbasi Moshaii","year":"2019","unstructured":"Abbasi Moshaii A, Mohammadi Moghaddam M, Dehghan Niestanak V (2019) Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger. Ind Robot Int J Robot Res Appl 46(6):839\u2013850","journal-title":"Ind Robot Int J Robot Res Appl"},{"key":"1023_CR2","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1007\/s11139-014-9668-2","volume":"39","author":"WM Abd-Elhameed","year":"2016","unstructured":"Abd-Elhameed WM, Doha EH, Ahmed HM (2016) Linearization formulae for certain Jacobi polynomials. Ramanujan J 39:155\u2013168","journal-title":"Ramanujan J"},{"key":"1023_CR3","unstructured":"Ahmad MY (2006) A distributed fuzzy logic controller for a prosthetic hand. University of Malaya (Malaysia)"},{"key":"1023_CR4","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1007\/s10846-008-9207-8","volume":"52","author":"YZ Arslan","year":"2008","unstructured":"Arslan YZ, Hacioglu Y, Yagiz N (2008) Prosthetic hand finger control using fuzzy sliding modes. J Intell Rob Syst 52:121\u2013138","journal-title":"J Intell Rob Syst"},{"issue":"3","key":"1023_CR5","doi-asserted-by":"publisher","first-page":"612","DOI":"10.1109\/TNSRE.2020.2967901","volume":"28","author":"D Blana","year":"2020","unstructured":"Blana D, Van Den Bogert AJ, Murray WM et al (2020) Model-based control of individual finger movements for prosthetic hand function. IEEE Trans Neural Syst Rehabil Eng 28(3):612\u2013620","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"key":"1023_CR6","doi-asserted-by":"publisher","first-page":"83162","DOI":"10.1109\/ACCESS.2019.2924696","volume":"7","author":"H Cao","year":"2019","unstructured":"Cao H, Chen X, He Y et al (2019) Dynamic adaptive hybrid impedance control for dynamic contact force tracking in uncertain environments. IEEE Access 7:83162\u201383174","journal-title":"IEEE Access"},{"key":"1023_CR7","doi-asserted-by":"crossref","unstructured":"Carter EW (2022) Research on disability and congregational inclusion: what we know and where we might go. J Disabil Religion, pp 1\u201331","DOI":"10.1080\/23312521.2022.2035297"},{"key":"1023_CR8","doi-asserted-by":"crossref","unstructured":"Chen\u00a0Chen F, Favetto A, Mousavi M, et\u00a0al (2011) Human hand: kinematics, statics, and dynamics. In: 41st International conference on environmental systems, p 5249","DOI":"10.2514\/6.2011-5249"},{"issue":"2","key":"1023_CR9","doi-asserted-by":"publisher","first-page":"596","DOI":"10.1016\/j.bbe.2022.04.001","volume":"42","author":"BA De la Cruz-S\u00e1nchez","year":"2022","unstructured":"De la Cruz-S\u00e1nchez BA, Arias-Montiel M, Lugo-Gonz\u00e1lez E (2022) Emg-controlled hand exoskeleton for assisted bilateral rehabilitation. Biocybern Biomed Eng 42(2):596\u2013614","journal-title":"Biocybern Biomed Eng"},{"issue":"5","key":"1023_CR10","doi-asserted-by":"publisher","first-page":"1083","DOI":"10.1080\/00207179.2023.2201644","volume":"97","author":"Y Guo","year":"2024","unstructured":"Guo Y, Li B, Spanogiannopoulos S et al (2024) Ddpg-based controlling algorithm for upper limb prosthetic shoulder joint. Int J Control 97(5):1083\u20131093","journal-title":"Int J Control"},{"issue":"4","key":"1023_CR11","doi-asserted-by":"publisher","first-page":"756","DOI":"10.1080\/00207179.2023.2173994","volume":"97","author":"D He","year":"2024","unstructured":"He D, Wang H, Tian Y (2024) Model-free super-twisting terminal sliding mode controller using sliding mode disturbance observer for n-dof upper-limb rehabilitation exoskeleton with backlash hysteresis. Int J Control 97(4):756\u2013772","journal-title":"Int J Control"},{"key":"1023_CR12","doi-asserted-by":"crossref","unstructured":"Herrera JC (1977) Equation of motion in classical electrodynamics. [poymting momentum]. Phys Rev D","DOI":"10.1103\/PhysRevD.15.453"},{"issue":"4","key":"1023_CR13","doi-asserted-by":"publisher","first-page":"1267","DOI":"10.1109\/TFUZZ.2022.3198172","volume":"31","author":"J Huang","year":"2023","unstructured":"Huang J, Li Z, Xia H et al (2023) Cross-modal integration and transfer learning using fuzzy logic techniques for intelligent upper limb prosthesis. IEEE Trans Fuzzy Syst 31(4):1267\u20131280. https:\/\/doi.org\/10.1109\/TFUZZ.2022.3198172","journal-title":"IEEE Trans Fuzzy Syst"},{"key":"1023_CR14","doi-asserted-by":"crossref","unstructured":"Hussain I, Iqbal Z, Malvezzi M, et\u00a0al (2018) Modeling and prototyping of a soft prosthetic hand exploiting joint compliance and modularity. In: 2018 IEEE international conference on robotics and biomimetics (ROBIO), pp 65\u201370","DOI":"10.1109\/ROBIO.2018.8665231"},{"issue":"11","key":"1023_CR15","doi-asserted-by":"publisher","first-page":"1214","DOI":"10.1016\/j.medengphy.2016.06.008","volume":"38","author":"E Imatz-Ojanguren","year":"2016","unstructured":"Imatz-Ojanguren E, Irigoyen E, Valencia-Blanco D et al (2016) Neuro-fuzzy models for hand movements induced by functional electrical stimulation in able-bodied and hemiplegic subjects. Med Eng Phys 38(11):1214\u20131222","journal-title":"Med Eng Phys"},{"issue":"3","key":"1023_CR16","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1007\/s00422-023-00964-x","volume":"117","author":"M Iqbal","year":"2023","unstructured":"Iqbal M, Imtiaz J, Mughal AM (2023) Mixed $$\\mu $$-synthesis tracking control and disturbance rejection in a robotic digit of an impaired human hand for anthropomorphic coordination. Biol Cybern 117(3):221\u2013247","journal-title":"Biol Cybern"},{"issue":"12","key":"1023_CR17","doi-asserted-by":"publisher","first-page":"4006","DOI":"10.1007\/s12555-023-0161-9","volume":"21","author":"S Jung","year":"2023","unstructured":"Jung S (2023) Analysis of bilinear force tracking control for robot manipulators under unknown environment. Int J Control Autom Syst 21(12):4006\u20134014","journal-title":"Int J Control Autom Syst"},{"issue":"5","key":"1023_CR18","doi-asserted-by":"publisher","first-page":"1634","DOI":"10.1007\/s12555-022-0756-6","volume":"21","author":"S Jung","year":"2023","unstructured":"Jung S (2023) Sliding mode control for a hybrid force control scheme of a robot manipulator under uncertain dynamics. Int J Control Autom Syst 21(5):1634\u20131643","journal-title":"Int J Control Autom Syst"},{"issue":"10","key":"1023_CR19","doi-asserted-by":"publisher","first-page":"3157","DOI":"10.1007\/s12555-024-0186-8","volume":"22","author":"S Jung","year":"2024","unstructured":"Jung S (2024) Cartesian time-delayed control to improve hybrid force control performance of robot manipulators under uncertain environment and unknown dynamics. Int J Control Autom Syst 22(10):3157\u20133165","journal-title":"Int J Control Autom Syst"},{"key":"1023_CR20","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104526","volume":"167","author":"G Li","year":"2022","unstructured":"Li G, Cheng L, Sun N (2022) Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation. Mech Mach Theory 167:104526","journal-title":"Mech Mach Theory"},{"key":"1023_CR21","doi-asserted-by":"crossref","unstructured":"Liu W, Ma Q, Xu S (2023) Fuzzy fixed-time prescribed-performance tracking control of nonlinear systems with dynamic event-triggered signal. IEEE Trans Fuzzy Syst","DOI":"10.1109\/TFUZZ.2023.3325529"},{"issue":"3","key":"1023_CR22","doi-asserted-by":"publisher","first-page":"271","DOI":"10.1007\/s00422-021-00918-1","volume":"116","author":"AS Migalev","year":"2022","unstructured":"Migalev AS, Vigasina KD, Gotovtsev PM (2022) A review of motor neural system robotic modeling approaches and instruments. Biol Cybern 116(3):271\u2013306","journal-title":"Biol Cybern"},{"key":"1023_CR23","doi-asserted-by":"publisher","first-page":"309","DOI":"10.1007\/s002210050519","volume":"122","author":"TE Milner","year":"1998","unstructured":"Milner TE, Cloutier C (1998) Damping of the wrist joint during voluntary movement. Exp Brain Res 122:309\u2013317","journal-title":"Exp Brain Res"},{"key":"1023_CR24","doi-asserted-by":"crossref","unstructured":"Moreira AH, Queir\u00f3s S, Fonseca J, et\u00a0al (2014) Real-time hand tracking for rehabilitation and character animation. In: 2014 IEEE 3nd international conference on serious games and applications for health (SeGAH), IEEE, pp 1\u20138","DOI":"10.1109\/SeGAH.2014.7067086"},{"issue":"6","key":"1023_CR25","doi-asserted-by":"publisher","first-page":"167","DOI":"10.3390\/act11060167","volume":"11","author":"S Narumi","year":"2022","unstructured":"Narumi S, Huang X, Lee J et al (2022) A design of biomimetic prosthetic hand. Actuators 11(6):167","journal-title":"Actuators"},{"issue":"3","key":"1023_CR26","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1007\/s10462-023-10694-y","volume":"57","author":"A Parziale","year":"2024","unstructured":"Parziale A, Marcelli A (2024) Understanding upper-limb movements via neurocomputational models of the sensorimotor system and neurorobotics: where we stand. Artif Intell Rev 57(3):73","journal-title":"Artif Intell Rev"},{"key":"1023_CR27","doi-asserted-by":"crossref","unstructured":"Polvinen A, Laaksonen M (2021) Determinants of transition from partial to full disability pension: A register study from finland. Scand J Public Health. Journal of Public Health, p 14034948211020172","DOI":"10.1177\/14034948211020172"},{"issue":"4","key":"1023_CR28","doi-asserted-by":"publisher","first-page":"771","DOI":"10.1080\/00207721.2023.2293486","volume":"55","author":"RE Precup","year":"2024","unstructured":"Precup RE, Nguyen AT, Bla\u017ei\u010d S (2024) A survey on fuzzy control for mechatronics applications. Int J Syst Sci 55(4):771\u2013813","journal-title":"Int J Syst Sci"},{"issue":"28","key":"1023_CR29","doi-asserted-by":"publisher","first-page":"17375","DOI":"10.1007\/s00521-024-10001-y","volume":"36","author":"MM Rusta","year":"2024","unstructured":"Rusta MM, Haghpanah SA, Taghvaei S et al (2024) Adaptive neuro-fuzzy sliding mode control of the human upper limb during manual wheelchair propulsion: estimation of continuous joint movements using synergy-based extended kalman filter. Neural Comput Appl 36(28):17375\u201317416","journal-title":"Neural Comput Appl"},{"issue":"12","key":"1023_CR30","doi-asserted-by":"publisher","first-page":"10439","DOI":"10.1080\/15397734.2024.2356066","volume":"52","author":"B Saeedi","year":"2024","unstructured":"Saeedi B, Mohammadi Moghaddam M, Sadedel M (2024) Inverse kinematics analysis of a wrist rehabilitation robot using artificial neural network and adaptive neuro-fuzzy inference system. Mech Based Des Struct Mach 52(12):10439\u201310487. https:\/\/doi.org\/10.1080\/15397734.2024.2356066","journal-title":"Mech Based Des Struct Mach"},{"key":"1023_CR31","doi-asserted-by":"publisher","first-page":"421","DOI":"10.1007\/s00422-017-0735-9","volume":"111","author":"A Salimi-Badr","year":"2017","unstructured":"Salimi-Badr A, Ebadzadeh MM, Darlot C (2017) Fuzzy neuronal model of motor control inspired by cerebellar pathways to online and gradually learn inverse biomechanical functions in the presence of delay. Biol Cybern 111:421\u2013438","journal-title":"Biol Cybern"},{"issue":"2","key":"1023_CR32","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1016\/0167-6911(89)90008-X","volume":"12","author":"A Van der Schaft","year":"1989","unstructured":"Van der Schaft A (1989) Representing a nonlinear state space system as a set of higher-order differential equations in the inputs and ouputs. Syst Control Lett 12(2):151\u2013160","journal-title":"Syst Control Lett"},{"key":"1023_CR33","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.592637","volume":"8","author":"XQ Shi","year":"2020","unstructured":"Shi XQ, Heung HL, Tang ZQ et al (2020) Verification of finger joint stiffness estimation method with soft robotic actuator. Front Bioeng Biotechnol 8:592637","journal-title":"Front Bioeng Biotechnol"},{"key":"1023_CR34","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.592637","volume":"8","author":"XQ Shi","year":"2020","unstructured":"Shi XQ, Heung HL, Tang ZQ et al (2020) Verification of finger joint stiffness estimation method with soft robotic actuator. Front Bioeng Biotechnol 8:592637","journal-title":"Front Bioeng Biotechnol"},{"key":"1023_CR35","doi-asserted-by":"crossref","unstructured":"Stoppa MH, Carvalho JCM (2015) Kinematic modeling of a multi-fingered hand prosthesis for manipulation tasks","DOI":"10.5151\/mathpro-cnmai-0140"},{"key":"1023_CR36","doi-asserted-by":"crossref","unstructured":"T\u00fc\u0171-Szab\u00f3 B, K\u00f3czy LT (2025) A highly accurate mamdani fuzzy inference system for tennis match predictions. Fuzzy Optim Decis Mak, pp 1\u201329","DOI":"10.1007\/s10700-025-09440-6"},{"issue":"1","key":"1023_CR37","doi-asserted-by":"publisher","first-page":"2339","DOI":"10.1038\/s41598-022-06040-x","volume":"12","author":"K Umezawa","year":"2022","unstructured":"Umezawa K, Suzuki Y, Ganesh G et al (2022) Bodily ownership of an independent supernumerary limb: an exploratory study. Sci Rep 12(1):2339. https:\/\/doi.org\/10.1038\/s41598-022-06040-x","journal-title":"Sci Rep"},{"key":"1023_CR38","doi-asserted-by":"crossref","unstructured":"Unsworth A, Bey P, Haslock IB (1981) Stiffness in the metacarpo-phalangeal joints of young adults. Clinical physics and physiological measurement an official journal of the Hospital Physicists\u2019 Association Deutsche Gesellschaft fur Medizinische Physik and the European Federation of Organisations for Medical Physics 2(2):123\u2013133","DOI":"10.1088\/0143-0815\/2\/2\/001"},{"key":"1023_CR39","doi-asserted-by":"crossref","unstructured":"Verghese GC, Levy BC, Kailath T (1978) Generalized state-space systems. In: 1978 IEEE conference on decision and control including the 17th symposium on adaptive processes, pp 518\u2013520","DOI":"10.1109\/CDC.1978.267983"},{"issue":"1","key":"1023_CR40","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1108\/IR-07-2023-0146","volume":"51","author":"P Wang","year":"2024","unstructured":"Wang P, Dong R (2024) Research on fuzzy impedance control of upper-limb rehabilitation robot based on membership functions online optimization learning strategy. Industrial Robot the international journal of robotics research and application 51(1):58\u201372","journal-title":"Industrial Robot the international journal of robotics research and application"},{"issue":"5","key":"1023_CR41","doi-asserted-by":"publisher","first-page":"1585","DOI":"10.1007\/s12555-023-0004-8","volume":"22","author":"Y Wang","year":"2024","unstructured":"Wang Y, An T, Cui Y et al (2024) Decentralized position\/torque control of modular robot manipulators via interaction torque estimation-based human motion intention identification. Int J Control Autom Syst 22(5):1585\u20131600","journal-title":"Int J Control Autom Syst"},{"issue":"6","key":"1023_CR42","first-page":"1188","volume":"26","author":"P Wattanasiri","year":"2018","unstructured":"Wattanasiri P, Tangpornprasert P, Virulsri C (2018) Design of multi-grip patterns prosthetic hand with single actuator. IEEE Trans Neural Syst Rehabil Eng 26(6):1188\u20131198","journal-title":"IEEE Trans Neural Syst Rehabil Eng"},{"key":"1023_CR43","doi-asserted-by":"crossref","unstructured":"Widhiada W, Nindhia T, Budiarsa N (2015) Robust control for the motion five fingered robot gripper","DOI":"10.18178\/ijmerr.4.3.226-232"},{"key":"1023_CR44","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1080\/03081089308818214","volume":"34","author":"D Wright","year":"1993","unstructured":"Wright D (1993) The jacobian conjecture: linear triangularizatlon for cubics in dimension three. Linear Multilinear Algebra 34:85\u201397","journal-title":"Linear Multilinear Algebra"},{"key":"1023_CR45","doi-asserted-by":"crossref","unstructured":"Yoon D, Kim K (2022) Fully passive robotic finger for human-inspired adaptive grasping in environmental constraints. IEEE\/ASME Trans Mechatron","DOI":"10.1109\/TMECH.2022.3145490"},{"key":"1023_CR46","doi-asserted-by":"crossref","unstructured":"Zhao X, Li J (2020) Transfer of the index finger extensor digitorum communis tendon to the extensor pollicis longus tendon: a case report. Plastic Surg Case Stud 6:2513826X19898832","DOI":"10.1177\/2513826X19898832"},{"issue":"1","key":"1023_CR47","doi-asserted-by":"publisher","first-page":"311","DOI":"10.1007\/s12555-022-0205-6","volume":"22","author":"T Zhu","year":"2024","unstructured":"Zhu T, Mao J, Han L et al (2024) Fuzzy adaptive model predictive control for image-based visual servoing of robot manipulators with kinematic constraints. Int J Control Autom Syst 22(1):311\u2013322","journal-title":"Int J Control Autom Syst"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-025-01023-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00422-025-01023-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-025-01023-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T06:40:58Z","timestamp":1765348858000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00422-025-01023-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,5]]},"references-count":47,"journal-issue":{"issue":"4-6","published-online":{"date-parts":[[2025,12]]}},"alternative-id":["1023"],"URL":"https:\/\/doi.org\/10.1007\/s00422-025-01023-3","relation":{},"ISSN":["1432-0770"],"issn-type":[{"type":"electronic","value":"1432-0770"}],"subject":[],"published":{"date-parts":[[2025,9,5]]},"assertion":[{"value":"27 April 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 August 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 September 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"Taken from all authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}}],"article-number":"24"}}