{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:30Z","timestamp":1754155410448,"version":"3.41.2"},"reference-count":25,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T00:00:00Z","timestamp":1688428800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2023,11,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The structural adaptive ability of the soft robot is fully demonstrated in the grasping task of the soft hand. A soft hand can easily realize the envelope operation of the object without planning. With the continuous development of robot applications, researchers are no longer satisfied with the ability of the soft hand to grasp. The purpose of this paper is to perceive the object\u2019s shape while grasping to provide a decision-making basis for more intelligent robot applications.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This paper proposes a dual-signal comparison method to obtain the fingertip position. The dual signal includes the displacement calculated by the static model without considering the external load change and the displacement calculated by the bending sensor. The dual-signal comparison method can use the obvious change trend difference between the above two signals in the hover and contact states to identify the touch position. The authors make the soft hand scan around the object through touch operation to detect the object\u2019s shape, and the tracks of every touch fingertip position can envelop the object\u2019s shape.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experimental results show that the dual-signal comparison method can accurately identify the contact moment of soft fingers. This detection method makes the soft hand develop the shape detection ability. The soft hand in the experiment can perceive squares, circles and a few other complex shapes.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The dual-signal comparison method proposed in this paper can detect a touch action by using the signal change trend when the working condition suddenly changes with the rough robotic model and sensing, thus improving the utilization value of the measured signal. The problems of large model errors and inaccurate sensors also negatively impact the use of other soft robots. It is generally difficult to achieve good results by directly using these models and sensors with the thinking of rigid robot analysis. The dual-signal comparison method in this paper can provide some reference for this aspect.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2023-0033","type":"journal-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T07:43:16Z","timestamp":1688456596000},"page":"959-968","source":"Crossref","is-referenced-by-count":0,"title":["Shape perception of soft hand based on dual-signal comparison contact detection"],"prefix":"10.1108","volume":"50","author":[{"given":"Kai","family":"Shi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jun","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gang","family":"Bao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2023,7,4]]},"reference":[{"issue":"4","key":"key2023111504263590000_ref001","doi-asserted-by":"publisher","first-page":"5502","DOI":"10.1109\/LRA.2020.3007411","article-title":"A dexterous soft robotic hand for delicate in-hand manipulation","volume":"5","year":"2020","journal-title":"IEEE Robotics and Automation Letters"},{"key":"key2023111504263590000_ref002","doi-asserted-by":"publisher","first-page":"2324","DOI":"10.1109\/IROS.2015.7353690","article-title":"Monolithic fabrication of sensors and actuators in a soft robotic gripper","volume-title":"Presented at the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","year":"2015"},{"key":"key2023111504263590000_ref003","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1109\/CYBER.2018.8688201","article-title":"Design, fabrication, and analysis of a sensorized soft robotic gripper","volume-title":"Presented at the 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)","year":"2018"},{"issue":"4","key":"key2023111504263590000_ref004","doi-asserted-by":"publisher","first-page":"495","DOI":"10.1089\/soro.2018.0061","article-title":"Fabrication and dynamic modeling of bidirectional bending soft actuator integrated with optical waveguide curvature sensor","volume":"6","year":"2019","journal-title":"Soft Robotics, Mary Ann Liebert, Inc., Publishers 140 Huguenot Street, 3rd Floor New \u2026"},{"key":"key2023111504263590000_ref005","doi-asserted-by":"publisher","first-page":"692754","DOI":"10.3389\/frobt.2021.692754","article-title":"A multimodal hydrogel soft-robotic sensor for multi-functional perception","volume":"8","year":"2021","journal-title":"Frontiers in Robotics and AI"},{"key":"key2023111504263590000_ref006","doi-asserted-by":"publisher","first-page":"234","DOI":"10.1016\/j.mechatronics.2017.10.005.","article-title":"Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors \u2013 a data-driven approach","volume":"50","year":"2018","journal-title":"Mechatronics"},{"issue":"2","key":"key2023111504263590000_ref007","doi-asserted-by":"publisher","first-page":"9962","DOI":"10.1016\/j.ifacol.2020.12.2712","article-title":"Pose estimation and tracking control of a pneumatic soft robotic hand","volume":"53","year":"2020","journal-title":"IFAC-PapersOnLine"},{"key":"key2023111504263590000_ref008","doi-asserted-by":"publisher","first-page":"1698","DOI":"10.1109\/IROS.2015.7353596","article-title":"Haptic identification of objects using a modular soft robotic gripper","volume-title":"Presented at the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","year":"2015"},{"key":"key2023111504263590000_ref009","doi-asserted-by":"publisher","first-page":"164","DOI":"10.1109\/ROBOSOFT.2018.8404914","article-title":"Design of new sensory soft hand: combining air-pump actuation with superimposed curvature and pressure sensors","volume-title":"Presented at the 2018 IEEE International Conference on Soft Robotics (RoboSoft)","year":"2018"},{"key":"key2023111504263590000_ref010","doi-asserted-by":"publisher","first-page":"1181","DOI":"10.1109\/ISCAS.2010.5537306","article-title":"Advanced characterization of piezoresistive sensors for human body movement tracking","volume-title":"Presented at the 2010 IEEE International Symposium on Circuits and Systems \u2013 ISCAS 2010","year":"2010"},{"key":"key2023111504263590000_ref011","doi-asserted-by":"publisher","first-page":"4963","DOI":"10.1109\/ICRA.2016.7487703","article-title":"A composite soft bending actuation module with integrated curvature sensing","volume-title":"presented at the 2016 IEEE International Conference on Robotics and Automation (ICRA)","year":"2016"},{"issue":"3","key":"key2023111504263590000_ref012","doi-asserted-by":"publisher","first-page":"034001","DOI":"10.1088\/1361-6439\/aaa1d8","article-title":"Fabrication and characterization of bending and pressure sensors for a soft prosthetic hand","volume":"28","year":"2018","journal-title":"Journal of Micromechanics and Microengineering"},{"key":"key2023111504263590000_ref013","doi-asserted-by":"publisher","first-page":"494","DOI":"10.1109\/IROS.2017.8202199","article-title":"Custom soft robotic gripper sensor skins for haptic object visualization","volume-title":"presented at the 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","year":"2017"},{"key":"key2023111504263590000_ref014","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2015.00038","article-title":"Soft pneumatic actuator skin with piezoelectric sensors for vibrotactile feedback","volume":"2","year":"2016","journal-title":"Frontiers in Robotics and AI"},{"key":"key2023111504263590000_ref015","doi-asserted-by":"publisher","first-page":"2448","DOI":"10.1109\/ICRA.2018.8463169","article-title":"Bodily aware soft robots: integration of proprioceptive and exteroceptive sensors","volume-title":"presented at the 2018 IEEE International Conference on Robotics and Automation (ICRA)","year":"2018"},{"issue":"15","key":"key2023111504263590000_ref016","doi-asserted-by":"publisher","first-page":"6123","DOI":"10.1109\/JSEN.2018.2846553","article-title":"Coiled conductive polymer fiber used in soft manipulator as sensor","volume":"18","year":"2018","journal-title":"IEEE Sensors Journal"},{"key":"key2023111504263590000_ref017","unstructured":"Vidisha, N. (2017), \u201cSelecting an appropriate curvature sensor for fluidic soft robot and modeling sensor reading vs pressure vs position\u201d, Master of Science Thesis, Tampere University of technology, Tampere."},{"key":"key2023111504263590000_ref018","doi-asserted-by":"publisher","first-page":"629","DOI":"10.1109\/SII.2016.7844069","article-title":"A 3D printed soft gripper integrated with curvature sensor for studying soft grasping","volume-title":"presented at the 2016 IEEE\/SICE International Symposium on System Integration (SII)","year":"2016"},{"key":"key2023111504263590000_ref019","doi-asserted-by":"publisher","first-page":"113006","DOI":"10.1016\/j.sna.2021.113006.","article-title":"A highly stretchable hydrogel sensor for soft robot multi-modal perception","volume":"331","year":"2021","journal-title":"Sensors and Actuators A: Physical"},{"issue":"2","key":"key2023111504263590000_ref020","doi-asserted-by":"publisher","first-page":"717","DOI":"10.1109\/TMECH.2016.2638468","article-title":"Interaction forces of soft fiber reinforced bending actuators","volume":"22","year":"2017","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"13","key":"key2023111504263590000_ref021","doi-asserted-by":"publisher","first-page":"1661","DOI":"10.1177\/0278364910368147","article-title":"Design and kinematic modeling of constant curvature continuum robots: a review","volume":"29","year":"2010","journal-title":"The International Journal of Robotics Research"},{"key":"key2023111504263590000_ref022","doi-asserted-by":"publisher","first-page":"8026","DOI":"10.1109\/EMBC.2015.7320255","article-title":"Embedded electro-conductive yarn for shape sensing of soft robotic manipulators","volume-title":"presented at the 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","year":"2015"},{"key":"key2023111504263590000_ref023","doi-asserted-by":"publisher","first-page":"572","DOI":"10.1109\/RoboSoft48309.2020.9116026","article-title":"Scalable tactile sensing for an omni-adaptive soft robot finger","volume-title":"presented at the 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","year":"2020"},{"issue":"3","key":"key2023111504263590000_ref024","doi-asserted-by":"publisher","first-page":"378","DOI":"10.1017\/S0263574720000429","article-title":"Soft robotic finger embedded with visual sensor for bending perception","volume":"39","year":"2021","journal-title":"Robotica"},{"issue":"1","key":"key2023111504263590000_ref025","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aai7529","article-title":"Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides","volume":"1","year":"2016","journal-title":"Science Robotics"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2023-0033\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2023-0033\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:31Z","timestamp":1753393111000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/50\/6\/959-968\/181796"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,4]]},"references-count":25,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2023,7,4]]},"published-print":{"date-parts":[[2023,11,16]]}},"alternative-id":["10.1108\/IR-02-2023-0033"],"URL":"https:\/\/doi.org\/10.1108\/ir-02-2023-0033","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"electronic","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2023,7,4]]}}}