{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:56:48Z","timestamp":1747173408869,"version":"3.40.5"},"reference-count":57,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,9,6]],"date-time":"2021-09-06T00:00:00Z","timestamp":1630886400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A novel grasp optimization algorithm for minimizing the net energy utilized by a five-fingered humanoid robotic hand with twenty degrees of freedom for securing a precise grasp is presented in this study. The algorithm utilizes a compliant contact model with a nonlinear spring and damper system to compute the performance measure, called \u2018Grasp Energy\u2019. The measure, subject to constraints, has been minimized to obtain locally optimal cartesian trajectories for securing a grasp. A case study is taken to compare the analytical (applying the optimization algorithm) and the simulated data in MSC.Adams<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574721001235_inline1.png\"\/><jats:tex-math>$^{^{\\circledR}}$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>, to prove the efficacy of the proposed formulation.<\/jats:p>","DOI":"10.1017\/s0263574721001235","type":"journal-article","created":{"date-parts":[[2021,9,6]],"date-time":"2021-09-06T19:20:27Z","timestamp":1630956027000},"page":"1501-1526","source":"Crossref","is-referenced-by-count":3,"title":["Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1917-7135","authenticated-orcid":false,"given":"Sourajit","family":"Mukherjee","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3014-1635","authenticated-orcid":false,"given":"Abhijit","family":"Mahapatra","sequence":"additional","affiliation":[]},{"given":"Amit","family":"Kumar","sequence":"additional","affiliation":[]},{"given":"Avik","family":"Chatterjee","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,9,6]]},"reference":[{"key":"S0263574721001235_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/1729881416687134"},{"key":"S0263574721001235_ref44","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2017.06.015"},{"key":"S0263574721001235_ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.06.019"},{"key":"S0263574721001235_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2020.02.180"},{"key":"S0263574721001235_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087111"},{"key":"S0263574721001235_ref29","unstructured":"29. Aceituno-Cabezas, B. , Ballester, J. and Rodriguez, A. , \u201cCertified Grasping,\u201d arXiv preprint, arXiv:1909.03985 (2019)."},{"key":"S0263574721001235_ref54","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700019299"},{"key":"S0263574721001235_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3086802"},{"key":"S0263574721001235_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3073010"},{"key":"S0263574721001235_ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2015.09.019"},{"key":"S0263574721001235_ref53","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002465"},{"key":"S0263574721001235_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2004.830347"},{"key":"S0263574721001235_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/21.101132"},{"key":"S0263574721001235_ref6","unstructured":"6. Kang, H.-J. and Freeman, R. A. , \u201cJoint Torque Optimization of Redundant Manipulators via the Null Space Damping Method,\u201d Proceedings 1992 IEEE International Conference on Robotics and Automation (2003) pp. 520\u2013525."},{"key":"S0263574721001235_ref51","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781139171731"},{"key":"S0263574721001235_ref21","unstructured":"21. Yong Yu, K. Takeuchi, and T. Yoshikawa, \u201cOptimization of Robot Hand Power Grasps,\u201d Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) (1998) pp. 3341\u20133347."},{"key":"S0263574721001235_ref47","doi-asserted-by":"crossref","unstructured":"47. Roy, G. , Mukherjee, S. , Das, T. and Bhaumik, S. , \u201cSingle Support Phase Gait Kinematics and Kinetics for a Humanoid Lower Limb Exoskeleton,\u201d 2020 IEEE Region 10 Symposium (TENSYMP) (2020) pp. 138\u2013141.","DOI":"10.1109\/TENSYMP50017.2020.9230598"},{"key":"S0263574721001235_ref42","doi-asserted-by":"publisher","DOI":"10.1080\/00140139208967812"},{"key":"S0263574721001235_ref8","unstructured":"8. Dubey, R. V. , Euler, J. A. and Babcock, S. M. , \u201cAn Efficient Gradient Projection Optimization Scheme for a Seven-Degree-of-Freedom Redundant Robot with Spherical Wrist,\u201d Proceedings. 1988 IEEE International Conference on Robotics and Automation (2003) pp. 28\u201336."},{"volume-title":"Robot Modeling and Control","year":"2005","author":"Spong","key":"S0263574721001235_ref40"},{"key":"S0263574721001235_ref45","doi-asserted-by":"crossref","unstructured":"45. Ren, L. , Mills, J. K. and Sun, D. , \u201cAdaptive Synchronization Control of a Planar Parallel Manipulator,\u201d Proceedings of the 2004 American Control Conference (2004) pp. 3980\u20133985 vol.5.","DOI":"10.23919\/ACC.2004.1383930"},{"key":"S0263574721001235_ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574713001215"},{"key":"S0263574721001235_ref55","first-page":"1","article-title":"Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares Methods","volume":"17","author":"Buss","year":"2004","journal-title":"IEEE J. Robot. Autom."},{"key":"S0263574721001235_ref37","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2018.00084"},{"key":"S0263574721001235_ref50","doi-asserted-by":"publisher","DOI":"10.1115\/1.3423596"},{"key":"S0263574721001235_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/70.88119"},{"key":"S0263574721001235_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2016.12.001"},{"key":"S0263574721001235_ref35","doi-asserted-by":"crossref","unstructured":"35. Neha, E. , Suhaib, M. and Mukherjee, S. , \u201cGrasp Force Analysis of Four-Finger Tendon Actuated Robotic Hand,\u201d Proceedings of the Advances in Robotics 2019 (2019) pp. 1\u20135.","DOI":"10.1145\/3352593.3352602"},{"key":"S0263574721001235_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/70.499823"},{"key":"S0263574721001235_ref19","unstructured":"19. Suhaib, M. , Khan, R. A. and Mukherjee, S. , \u201cContact Force Optimization for Stable Grasp of Multifingire Robotic Grippers,\u201d Proceedings of the World Congress on Engineering 2011, WCE 2011 (2011) pp. 2194\u20132197."},{"key":"S0263574721001235_ref22","doi-asserted-by":"crossref","unstructured":"22. Horowitz, M. B. and Burdick, J. W. , \u201cCombined Grasp and Manipulation Planning as a Trajectory Optimization Problem,\u201d 2012 IEEE International Conference on Robotics and Automation (2012) pp. 584\u2013591.","DOI":"10.1109\/ICRA.2012.6225104"},{"key":"S0263574721001235_ref33","unstructured":"33. Mirza, K. and Grin, D. E. , \u201cGeneral Formulation for Force Distribution in Power Grasp,\u201d Proceedings of the 1994 IEEE International Conference on Robotics and Automation (2002) pp. 880\u2013887."},{"key":"S0263574721001235_ref41","doi-asserted-by":"publisher","DOI":"10.1177\/001872089103300405"},{"key":"S0263574721001235_ref48","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2015.2470657"},{"key":"S0263574721001235_ref34","unstructured":"34. Yoshikawa, T. , Watanabe, T. and Daito, M. , \u201cOptimization of Power Grasps for Multiple Objects,\u201d Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) (2001) pp. 1786\u20131791."},{"key":"S0263574721001235_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.08.028"},{"key":"S0263574721001235_ref1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00558.2006"},{"key":"S0263574721001235_ref43","doi-asserted-by":"publisher","DOI":"10.1002\/9780470549148"},{"key":"S0263574721001235_ref39","doi-asserted-by":"crossref","unstructured":"39. Cobos, S. , Ferre, M. , Sanchez Uran, M. A. , Ortego, J. and Pena, C. , \u201cEfficient Human Hand Kinematics for Manipulation Tasks,\u201d 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2008) pp. 2246\u20132251.","DOI":"10.1109\/IROS.2008.4651053"},{"key":"S0263574721001235_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700017215"},{"key":"S0263574721001235_ref30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000031"},{"key":"S0263574721001235_ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000703"},{"key":"S0263574721001235_ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84628-642-1"},{"key":"S0263574721001235_ref49","doi-asserted-by":"crossref","unstructured":"49. Mukherjee, S. and Mahapatra, A. , \u201cCompliant Contact Modeling of a Humanoid Robotic Thumb for Assisting Grasp,\u201d 2019 IEEE International Conference on Intelligent Systems and Green Technology (ICISGT) (2019) pp. 94\u201398.","DOI":"10.1109\/ICISGT44072.2019.00036"},{"key":"S0263574721001235_ref18","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1996_210_165_02"},{"key":"S0263574721001235_ref46","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.09.022"},{"key":"S0263574721001235_ref5","unstructured":"5. Ki, Suh and Hollerbach, J. , \u201cLocal versus Global Torque Optimization of Redundant Manipulators,\u201d Proceedings. 1987 IEEE International Conference on Robotics and Automation (1987) pp. 619\u2013624."},{"key":"S0263574721001235_ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919287"},{"key":"S0263574721001235_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/BF02954358"},{"key":"S0263574721001235_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.01.019"},{"volume-title":"Introduction to Robotics","year":"2005","author":"Craig","key":"S0263574721001235_ref52"},{"key":"S0263574721001235_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/3468.798060"},{"key":"S0263574721001235_ref38","doi-asserted-by":"crossref","first-page":"682","DOI":"10.1136\/pgmj.51.599.682-a","article-title":"The Physiology of the Joints. Volume 2","volume":"51","author":"Kapandji","year":"1975","journal-title":"Postgrad. Med. J."},{"key":"S0263574721001235_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2020.105694"},{"key":"S0263574721001235_ref57","doi-asserted-by":"publisher","DOI":"10.3390\/machines9020025"},{"key":"S0263574721001235_ref12","doi-asserted-by":"crossref","unstructured":"12. Jeong, D. , Jo, I. and Bae, J. , \u201cAnalysis on the Force Distribution of Various Grasps for the Design of a Hand Exoskeleton,\u201d 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (2014) pp. 127\u2013131.","DOI":"10.1109\/URAI.2014.7057412"},{"key":"S0263574721001235_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2928210"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721001235","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,7]],"date-time":"2024-09-07T22:17:42Z","timestamp":1725747462000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721001235\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,6]]},"references-count":57,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2022,5]]}},"alternative-id":["S0263574721001235"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721001235","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2021,9,6]]}}}