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Biomim."],"published-print":{"date-parts":[[2026,10,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    Twisted and coiled polymer (TCP) actuators have recently been used in a broader range of robotic systems, largely because they combine muscle-like compliance with relatively high power density. For anthropomorphic robotic hands, this combination is useful in a very direct sense: the actuator must fit into a compact structure while still producing compliant finger motion. However, the coupled electro-thermal-mechanical response of TCP materials makes internal-state estimation difficult. It also complicates coordinated multi-finger actuation, especially when additional sensors cannot be easily embedded in a soft hand without increasing size, wiring complexity, or structural redundancy. In this work, we develop a synergistic control framework with temperature self-sensing for regulating multiple TCP actuator arrays in a soft dexterous hand. Electrical and mechanical signals are collected through an integrated sensing architecture, after which principal component analysis is used to establish a low-dimensional relationship between input power commands and finger bending trajectories. To make the actuator response more tractable, the total contraction force is divided into a temperature-dependent component and a mechanical component. On this basis, a predictive thermal regulation model is constructed, allowing the TCP arrays to be controlled without relying on external temperature sensors. The framework was evaluated in Feix grasp-maintenance and grasp-transition experiments. Across three representative grasp-maintenance tasks with five repeated trials per condition, self-sensing control reduced the mean fingertip dispersion by 37.5%\u201342.1% in the\n                    <jats:italic>X<\/jats:italic>\n                    direction and by 8.1%\u201314.7% in the\n                    <jats:italic>Y<\/jats:italic>\n                    direction compared with open-loop actuation. The corresponding planar fingertip dispersion decreased by 16.3%\u201336.5%. During grasp transitions,\n                    <jats:italic>\n                      D\n                      <jats:sub>z<\/jats:sub>\n                    <\/jats:italic>\n                    changed by 1.4%\u201330.7% across the four transition tasks, with pronounced reductions in Feix-09\u201310 and Feix-26\u201327\u201328, whereas Feix-12\u201313\u201314 showed only a small reduction. These results indicate that temperature self-sensing improves both trajectory repeatability and hand-level coordination in the TCP-driven dexterous hand.\n                  <\/jats:p>","DOI":"10.1088\/1748-3190\/ae9262","type":"journal-article","created":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T22:56:23Z","timestamp":1785365783000},"page":"056003","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Integrated bio-inspired synergistic framework with self-sensing control for anthropomorphic coordination of TCP-driven hands"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-1227-8103","authenticated-orcid":true,"given":"Xiaojun","family":"Zhang","sequence":"first","affiliation":[{"name":"Hebei University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7182-5913","authenticated-orcid":true,"given":"Man","family":"Wang","sequence":"additional","affiliation":[{"name":"Tianjin University of Commerce"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4127-330X","authenticated-orcid":true,"given":"Jidong","family":"Jia","sequence":"additional","affiliation":[{"name":"Hebei University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Manhong","family":"Li","sequence":"additional","affiliation":[{"name":"Hebei University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tianyu","family":"Zheng","sequence":"additional","affiliation":[{"name":"Hebei University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Minglu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Hebei University of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2026,9,7]]},"reference":[{"key":"bbae9262bib1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ae37b7","type":"journal-article","volume":"21","author":"Xu","year":"2026","journal-title":"Bioinspir. 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All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2026-05-19","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-07-29","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-09-07","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}