{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T14:40:36Z","timestamp":1780929636055,"version":"3.54.1"},"reference-count":27,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T00:00:00Z","timestamp":1768348800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Linkerbot Beijing Technology Co., Ltd. Haidian District, Dazhongsi East Road, Taiyangyuan Community, China"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more naturally with diverse objects in dynamic environments. Building on this foundation, the paper presents a vision-guided grasping algorithm for a prosthetic hand, integrating perception, planning, and control for dexterous manipulation. A camera mounted on the set up captures the scene, and a Bounding Volume Hierarchy (BVH)-based vision algorithm is employed to segment an object for grasping and define its bounding box. Grasp contact points are then computed by generating candidate trajectories using Rapidly-exploring Random Tree Star (RRT*) algorithm, and selecting fingertip end poses based on the minimum Euclidean distance between these trajectories and the object\u2019s point cloud. Each finger\u2019s grasp pose is determined independently, enabling adaptive, object-specific configurations. Damped Least Square (DLS) based Inverse kinematics solver is used to compute the corresponding joint angles, which are subsequently transmitted to the finger actuators for execution. Our intention in this work was to present a proof-of-concept pipeline demonstrating that fingertip poses derived from a simple, computationally lightweight geometric representation, specifically an AABB-based segmentation can be successfully propagated through per-finger planning and executed in real time on the Linker Hand O7 platform. The proposed method is validated in simulation, and experimental integration on a Linker Hand O7 platform.<\/jats:p>","DOI":"10.3390\/robotics15010022","type":"journal-article","created":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T11:01:14Z","timestamp":1768388474000},"page":"22","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Vision-Guided Grasp Planning for Prosthetic Hands with AABB-Based Object Representation"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5330-0053","authenticated-orcid":false,"given":"Shifa","family":"Sulaiman","sequence":"first","affiliation":[{"name":"Control and Automation Section, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-6994-716X","authenticated-orcid":false,"given":"Akash","family":"Bachhar","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Institute of Technology, Durgapur 713209, India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Shen","sequence":"additional","affiliation":[{"name":"The Technical Faculty of IT and Design Antennas, Propagation and Millimeter-Wave Systems, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Simon","family":"B\u00f8gh","sequence":"additional","affiliation":[{"name":"Control and Automation Section, Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,1,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1827","DOI":"10.1109\/TNSRE.2025.3567392","article-title":"A Powered Prosthetic Hand with Vision System for Enhancing the Anthropopathic Grasp","volume":"33","author":"Xu","year":"2025","journal-title":"IEEE Trans. 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