{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T16:43:26Z","timestamp":1783010606651,"version":"3.54.6"},"reference-count":34,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2022,5,14]],"date-time":"2022-05-14T00:00:00Z","timestamp":1652486400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human\u2013robot interaction. However, considering the underactuated and nonlinear characteristics, as well as the mechanical structure\u2019s backlash, achieving natural and intuitive teleoperation control of an underactuated bionic hand remains a critical issue. In this paper, the teleoperation control of an underactuated bionic hand using wearable and vision-tracking system-based methods is investigated. Firstly, the nonlinear behaviour of the bionic hand is observed and the kinematics model is formulated. Then, the wearable-glove-based and the vision-tracking-based teleoperation control frameworks are implemented, respectively. Furthermore, experiments are conducted to demonstrate the feasibility and performance of these two methods in terms of accuracy in both static and dynamic scenarios. Finally, a user study and demonstration experiments are conducted to verify the performance of these two approaches in grasp tasks. Both developed systems proved to be exploitable in both powered and precise grasp tasks using the underactuated bionic hand, with a success rate of 98.6% and 96.5%, respectively. The glove-based method turned out to be more accurate and better performing than the vision-based one, but also less comfortable, requiring greater effort by the user. By further incorporating a robot manipulator, the system can be utilised to perform grasp, delivery, or handover tasks in daily, risky, and infectious scenarios.<\/jats:p>","DOI":"10.3390\/robotics11030061","type":"journal-article","created":{"date-parts":[[2022,5,15]],"date-time":"2022-05-15T09:48:22Z","timestamp":1652608102000},"page":"61","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Teleoperation Control of an Underactuated Bionic Hand: Comparison between Wearable and Vision-Tracking-Based Methods"],"prefix":"10.3390","volume":"11","author":[{"given":"Junling","family":"Fu","sequence":"first","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Massimiliano","family":"Poletti","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingsheng","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"},{"name":"College of Information Science and Engineering, Ocean University of China, Qingdao 266100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Elisa","family":"Iovene","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6877-6783","authenticated-orcid":false,"given":"Hang","family":"Su","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5913-9451","authenticated-orcid":false,"given":"Giancarlo","family":"Ferrigno","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Elena","family":"De Momi","sequence":"additional","affiliation":[{"name":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,14]]},"reference":[{"key":"ref_1","first-page":"37","article-title":"Bionic hand: A brief review","volume":"2","author":"Bayrak","year":"2022","journal-title":"J. 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