{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T03:57:30Z","timestamp":1783569450726,"version":"3.55.0"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2020,1,2]],"date-time":"2020-01-02T00:00:00Z","timestamp":1577923200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,2]],"date-time":"2020-01-02T00:00:00Z","timestamp":1577923200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Dalian Sci & Tech Innovation Foundation Program","award":["2018J12GX035"],"award-info":[{"award-number":["2018J12GX035"]}]},{"name":"Industrial Technology Joint R&D Funds of Jiangsu Intelligent Equipment Industry Technology Innovation Center"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1007\/s11370-019-00305-7","type":"journal-article","created":{"date-parts":[[2020,1,2]],"date-time":"2020-01-02T12:37:51Z","timestamp":1577968671000},"page":"251-262","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Stable grasp planning based on minimum force for dexterous hands"],"prefix":"10.1007","volume":"13","author":[{"given":"Yongyao","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8305-9352","authenticated-orcid":false,"given":"Ming","family":"Cong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Du","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiubo","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,1,2]]},"reference":[{"issue":"1","key":"305_CR1","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/s42235-017-0005-5","volume":"15","author":"L Jiang","year":"2018","unstructured":"Jiang L, Liu Y, Yang D et al (2018) A synthetic framework for evaluating and designing an anthropomorphic prosthetic hand. J Bionic En 15(1):69\u201382. https:\/\/doi.org\/10.1007\/s42235-017-0005-5","journal-title":"J Bionic En"},{"issue":"5","key":"305_CR2","doi-asserted-by":"publisher","first-page":"835","DOI":"10.15866\/ireme.v8i5.1755","volume":"8","author":"V Niola","year":"2014","unstructured":"Niola V, Rossi C, Savino S (2014) A new mechanical hand: theoretical studies and first prototyping. Int Rev Mech Eng 8(5):835. https:\/\/doi.org\/10.15866\/ireme.v8i5.1755","journal-title":"Int Rev Mech Eng"},{"issue":"2","key":"305_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/01691864.2017.1393349","volume":"31","author":"DRR Rebollo","year":"2017","unstructured":"Rebollo DRR, Ponce P, Molina A (2017) From 3 fingers to 5 fingers dexterous hands. Adv Robot 31(2):1\u201320. https:\/\/doi.org\/10.1080\/01691864.2017.1393349","journal-title":"Adv Robot"},{"key":"305_CR4","doi-asserted-by":"publisher","unstructured":"Fukaya N, Asfour T, Dillmann R, Toyama S (2013) Development of a five-finger dexterous hand without feedback control: the TUAT\/Karlsruhe humanoid hand. In: IEEE\/RSJ international conference on intelligent robots and systems (IROS), Tokyo, Japan, pp 4533\u20134540. https:\/\/doi.org\/10.1109\/iros.2013.6697008","DOI":"10.1109\/iros.2013.6697008"},{"key":"305_CR5","doi-asserted-by":"publisher","DOI":"10.1108\/IR-12-2015-0226","author":"A Montano","year":"2017","unstructured":"Montano A, Su\u00e1rez R (2017) Robust dexterous telemanipulation following object-orientation commands. Ind Robot. https:\/\/doi.org\/10.1108\/IR-12-2015-0226","journal-title":"Ind Robot"},{"issue":"1","key":"305_CR6","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/01691864.2017.1365011","volume":"31","author":"R Ozawa","year":"2017","unstructured":"Ozawa R, Tahara K (2017) Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point. Adv Robot 31(1):1\u201321. https:\/\/doi.org\/10.1080\/01691864.2017.1365011","journal-title":"Adv Robot"},{"issue":"4","key":"305_CR7","doi-asserted-by":"publisher","first-page":"421","DOI":"10.1109\/70.149939","volume":"8","author":"DJ Montana","year":"1992","unstructured":"Montana DJ (1992) Contact stability for two-fingered grasps. IEEE Trans Robot Autom 8(4):421\u2013430. https:\/\/doi.org\/10.1109\/70.149939","journal-title":"IEEE Trans Robot Autom"},{"issue":"5","key":"305_CR8","doi-asserted-by":"publisher","first-page":"736","DOI":"10.1177\/0278364913514466","volume":"33","author":"LU Odhner","year":"2014","unstructured":"Odhner LU, Jentoft LP, Claffee MR et al (2014) A compliant, underactuated hand for robust manipulation. Int J Robot Res 33(5):736\u2013752. https:\/\/doi.org\/10.1177\/0278364913514466","journal-title":"Int J Robot Res"},{"key":"305_CR9","doi-asserted-by":"publisher","unstructured":"Kojima K, Sato T, Schmitz A, Arie H, Iwata H, Sugano S (2013) Sensor prediction and grasp stability evaluation for in-hand manipulation. In: IEEE\/RSJ international conference on intelligent robots and systems (IROS), Tokyo, Japan, pp 2479\u20132484. https:\/\/doi.org\/10.1109\/iros.2013.6696705","DOI":"10.1109\/iros.2013.6696705"},{"issue":"4","key":"305_CR10","doi-asserted-by":"publisher","first-page":"960","DOI":"10.1109\/TRO.2016.2588879","volume":"32","author":"K Hang","year":"2016","unstructured":"Hang K, Miao L, Stork JA et al (2016) Hierarchical fingertip space: a unified framework for grasp planning and in-hand grasp adaptation. IEEE Trans Robot 32(4):960\u2013972. https:\/\/doi.org\/10.1109\/TRO.2016.2588879","journal-title":"IEEE Trans Robot"},{"issue":"1","key":"305_CR11","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1177\/0278364914555544","volume":"34","author":"Y Lin","year":"2015","unstructured":"Lin Y, Sun Y (2015) Robot grasp planning based on demonstrated grasp strategies. Int J Robot Res 34(1):26\u201342. https:\/\/doi.org\/10.1177\/0278364914555544","journal-title":"Int J Robot Res"},{"key":"305_CR12","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00371-016-1333-x","volume":"3\u20134","author":"P Song","year":"2016","unstructured":"Song P, Fu Z, Liu L (2016) Grasp planning via hand-object geometric fitting. Visual Comput 3\u20134:1\u201314. https:\/\/doi.org\/10.1007\/s00371-016-1333-x","journal-title":"Visual Comput"},{"key":"305_CR13","doi-asserted-by":"publisher","unstructured":"Krug R, Lilienthal AJ, Kragic D, et al (2016) Analytic grasp success prediction with tactile feedback. In: IEEE international conference on robotics and automation (ICRA), Stockholm, Sweden, 16\u201321. https:\/\/doi.org\/10.1109\/icra.2016.7487130","DOI":"10.1109\/icra.2016.7487130"},{"issue":"9\u201312","key":"305_CR14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00170-017-0046-2","volume":"91","author":"A Delgado","year":"2017","unstructured":"Delgado A, Jara CA, Torres F (2017) Adaptive tactile control for in-hand manipulation tasks of deformable objects. Int J Adv Manuf Technol 91(9\u201312):1\u201314. https:\/\/doi.org\/10.1007\/s00170-017-0046-2","journal-title":"Int J Adv Manuf Technol"},{"issue":"4","key":"305_CR15","doi-asserted-by":"publisher","first-page":"225","DOI":"10.1007\/s11370-015-0178-x","volume":"8","author":"F Liu","year":"2015","unstructured":"Liu F, Yong BK, Yee GK et al (2015) Computation of minimum contact forces of multi-fingered robot hand with soft fingertips. Intel Serv Robot 8(4):225\u2013232. https:\/\/doi.org\/10.1007\/s11370-015-0178-x","journal-title":"Intel Serv Robot"},{"issue":"3","key":"305_CR16","doi-asserted-by":"publisher","first-page":"326","DOI":"10.1016\/j.robot.2011.07.016","volume":"60","author":"A Sahbani","year":"2012","unstructured":"Sahbani A, Elkhoury S, Bidaud P (2012) An overview of 3D object grasp synthesis algorithms. Robot Auton Syst 60(3):326\u2013336. https:\/\/doi.org\/10.1016\/j.robot.2011.07.016","journal-title":"Robot Auton Syst"},{"key":"305_CR17","unstructured":"Feix T, Pawlik R, Schmiedmayer H B et al (2009) The generation of a comprehensive grasp taxonomy. In RSS: workshop on understanding the human hand for advancing robotic manipulation, pp 76\u201388"},{"issue":"3","key":"305_CR18","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1109\/70.34763","volume":"5","author":"MR Cutkosky","year":"1989","unstructured":"Cutkosky MR (1989) On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Trans Robot Autom 5(3):269\u2013279. https:\/\/doi.org\/10.1109\/70.34763","journal-title":"IEEE Trans Robot Autom"},{"issue":"3","key":"305_CR19","doi-asserted-by":"publisher","first-page":"230","DOI":"10.1177\/027836499601500302","volume":"15","author":"KB Shimoga","year":"1996","unstructured":"Shimoga KB (1996) Robot grasp synthesis algorithms: a survey. Int J Robot Res 15(3):230\u2013266. https:\/\/doi.org\/10.1177\/027836499601500302","journal-title":"Int J Robot Res"},{"issue":"3","key":"305_CR20","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1109\/ROBOT.1986.1087483","volume":"7","author":"VD Nguyen","year":"1986","unstructured":"Nguyen VD (1986) Constructing force-closure grasps. IEEE Int Conf Robot Autom 7(3):3\u201316. https:\/\/doi.org\/10.1109\/ROBOT.1986.1087483","journal-title":"IEEE Int Conf Robot Autom"},{"key":"305_CR21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399509","author":"VN Christopoulos","year":"2007","unstructured":"Christopoulos VN, Schrater PR (2007) Handling shape and contact location uncertainty in grasping two-dimensional planar objects. IEEE\/RSJ Int Conf Intell Robots Syst. https:\/\/doi.org\/10.1109\/IROS.2007.4399509","journal-title":"IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"305_CR22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.845288","author":"D Ding","year":"2000","unstructured":"Ding D, Liu Y, Wang S (2000) Computing 3-D optimal form-closure grasps. IEEE Int Conf Robot Autom. https:\/\/doi.org\/10.1109\/ROBOT.2000.845288","journal-title":"IEEE Int Conf Robot Autom"},{"key":"305_CR23","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2011.5986317","author":"H Mesgari","year":"2011","unstructured":"Mesgari H, Cheraghpour F, Moosavian SAA (2011) Application of MAG index for optimal grasp planning. IEEE Int Conf Mechatron Autom. https:\/\/doi.org\/10.1109\/ICMA.2011.5986317","journal-title":"IEEE Int Conf Mechatron Autom"},{"issue":"4","key":"305_CR24","doi-asserted-by":"publisher","first-page":"365","DOI":"10.1016\/s0921-8890(97)00020-1","volume":"21","author":"C Xiong","year":"1997","unstructured":"Xiong C, Xiong Y (1997) Neural-network based force planning for multifingered grasp. Robot Auton Syst 21(4):365\u2013375. https:\/\/doi.org\/10.1016\/s0921-8890(97)00020-1","journal-title":"Robot Auton Syst"},{"issue":"3","key":"305_CR25","doi-asserted-by":"publisher","first-page":"406","DOI":"10.1109\/70.499823","volume":"12","author":"M Buss","year":"1996","unstructured":"Buss M, Hashimoto H, Moore JB (1996) Dextrous hand grasping force optimization. IEEE Trans Robot Autom 12(3):406\u2013418. https:\/\/doi.org\/10.1109\/70.499823","journal-title":"IEEE Trans Robot Autom"},{"issue":"6","key":"305_CR26","doi-asserted-by":"publisher","first-page":"843","DOI":"10.1109\/TCST.2004.833630","volume":"12","author":"G Liu","year":"2004","unstructured":"Liu G, Xu J, Li Z (2004) On geometric algorithms for real-time grasping force optimization. IEEE Trans Control Syst Technol 12(6):843\u2013859. https:\/\/doi.org\/10.1109\/TCST.2004.833630","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"1","key":"305_CR27","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1109\/tro.2012.2212633","volume":"29","author":"V Lippiello","year":"2012","unstructured":"Lippiello V, Siciliano B, Villani L (2012) A grasping force optimization algorithm for multi-arm robots with multi-fingered hands. IEEE Trans Robot 29(1):55\u201367. https:\/\/doi.org\/10.1109\/tro.2012.2212633","journal-title":"IEEE Trans Robot"},{"key":"305_CR28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979674","author":"V Lippiello","year":"2011","unstructured":"Lippiello V, Siciliano B, Villani L (2011) Online dextrous hand grasping force optimization with dynamic torque constraints selection. IEEE Int Conf Robot Autom. https:\/\/doi.org\/10.1109\/ICRA.2011.5979674","journal-title":"IEEE Int Conf Robot Autom"},{"key":"305_CR29","doi-asserted-by":"publisher","unstructured":"Dai H, Majumdar A, Tedrake R (2018) Synthesis and optimization of force closure grasps via sequential semidefinite programming. Cham: Springer Proceedings in Advanced Robotics, 2. https:\/\/doi.org\/10.1007\/978-3-319-51532-8_18","DOI":"10.1007\/978-3-319-51532-8_18"},{"issue":"1","key":"305_CR30","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s10514-014-9402-3","volume":"38","author":"MA Roa","year":"2015","unstructured":"Roa MA, Su\u00e1rez R (2015) Grasp quality measures: review and performance. Auton Robots 38(1):65\u201388. https:\/\/doi.org\/10.1007\/s10514-014-9402-3","journal-title":"Auton Robots"},{"key":"305_CR31","doi-asserted-by":"publisher","first-page":"629","DOI":"10.1070\/RM1994v049n03ABEH002273","volume":"5","author":"YL Xiong","year":"1994","unstructured":"Xiong YL (1994) Theory of point contact restraint and qualitative analysis of robot grasping. Sci China Ser A 5:629\u2013640. https:\/\/doi.org\/10.1070\/RM1994v049n03ABEH002273","journal-title":"Sci China Ser A"},{"issue":"3","key":"305_CR32","doi-asserted-by":"publisher","first-page":"543","DOI":"10.1109\/TRA.2004.825514","volume":"20","author":"X Zhu","year":"2004","unstructured":"Zhu X, Ding H, Wang MY (2004) A numerical test for the closure properties of 3-D Grasps. IEEE Trans Robot Autom 20(3):543\u2013549. https:\/\/doi.org\/10.1109\/TRA.2004.825514","journal-title":"IEEE Trans Robot Autom"},{"key":"305_CR33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095096","author":"M Kalakrishnan","year":"2011","unstructured":"Kalakrishnan M, Righetti L, Pastor P et al (2011) Learning force control policies for compliant manipulation. IEEE\/RSJ Int Conf Intell Robot Syst. https:\/\/doi.org\/10.1109\/IROS.2011.6095096","journal-title":"IEEE\/RSJ Int Conf Intell Robot Syst"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-019-00305-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11370-019-00305-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-019-00305-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T01:05:30Z","timestamp":1609463130000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11370-019-00305-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,2]]},"references-count":33,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["305"],"URL":"https:\/\/doi.org\/10.1007\/s11370-019-00305-7","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,2]]},"assertion":[{"value":"23 March 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 November 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 January 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}