{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T16:08:25Z","timestamp":1760890105158,"version":"3.37.3"},"reference-count":36,"publisher":"World Scientific Pub Co Pte Ltd","issue":"05","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51435010"],"award-info":[{"award-number":["51435010"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51722507"],"award-info":[{"award-number":["51722507"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["91648103"],"award-info":[{"award-number":["91648103"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2020,10]]},"abstract":"<jats:p> In the past several years, grasp analysis of multi-fingered robotic hands has been actively studied through the use of posture synergies. In these grasping planning algorithms, a formulated optimization is usually performed in the hand\u2019s low-dimensional representation together with the hand\u2019s position and orientation. The optimization terminates at a stable grasp, often after repeated trials with different initial guesses. Furthermore, there is no guarantee that the generated grasp leads to a smooth reach-to-grasp trajectory since the grasping planning process mostly concerns hand poses with the fingers proximal to the object. A unified theoretical framework of a gradient-based iterative algorithm is hence proposed in this paper to plan a reach-to-grasp task, predicting the grasp quality and adjusting the hand\u2019s posture synergies, position and orientation during the approaching phase to achieve a stable grasp. The grasp quality measurement is adopted from a highly efficient pseudo-distance formulation. Stable power grasp and precision pinch can be consistently and intentionally planned with different contact conditions specified in the formulation, which means that an intention for planning a power grasp would not generate a pinch result. Several numerical simulation case studies are presented to demonstrate the effectiveness of the proposed algorithm. <\/jats:p>","DOI":"10.1142\/s0219843620500152","type":"journal-article","created":{"date-parts":[[2020,7,21]],"date-time":"2020-07-21T02:59:28Z","timestamp":1595300368000},"page":"2050015","source":"Crossref","is-referenced-by-count":7,"title":["Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation"],"prefix":"10.1142","volume":"17","author":[{"given":"Zenghui","family":"Liu","sequence":"first","affiliation":[{"name":"UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuyang","family":"Chen","sequence":"additional","affiliation":[{"name":"UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangyang","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1690-3370","authenticated-orcid":false,"given":"Kai","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2020,7,21]]},"reference":[{"key":"S0219843620500152BIB001","first-page":"1","volume":"38","author":"Bernstein N.","year":"1935","journal-title":"Arch. 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