{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T14:14:15Z","timestamp":1776348855253,"version":"3.51.2"},"reference-count":32,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2018,4,23]],"date-time":"2018-04-23T00:00:00Z","timestamp":1524441600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["LQ18E050003"],"award-info":[{"award-number":["LQ18E050003"]}]},{"name":"Zhejiang Provincial Education Department Project","award":["Y201737055"],"award-info":[{"award-number":["Y201737055"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51505238"],"award-info":[{"award-number":["51505238"]}],"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":["61703217"],"award-info":[{"award-number":["61703217"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"K.C.Wong Magna Fund in Ningbo University"},{"name":"Open Research Project of the State Key Laboratory of Industrial Control Technology, Zhejiang University","award":["ICT1800377"],"award-info":[{"award-number":["ICT1800377"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper reports on the development, implementation and hybrid control of a new micro-fiber-composite microgripper with synchronous position and force control capabilities. In particular, the micro-fiber-composite actuator was composed of rectangular piezoelectric fibers covered by interdigitated electrodes and embedded in structural epoxy. Thus, the micro-fiber-composite microgripper had a larger displacement-volume ratio (i.e., the ratio of the output displacement to the volume of the microgripper) than that of a traditional piezoelectric one. Moreover, to regulate both the gripper position and the gripping force simultaneously, a hybrid position\/force control scheme using fuzzy sliding mode control and the proportional-integral controller was developed. In particular, the fuzzy sliding mode control was used to achieve the precision position control under the influence of the system disturbances and uncertainties, and the proportional-integral controller was used to guarantee the force control accuracy of the microgripper. A series of experimental investigations was performed to verify the feasibility of the developed microgripper and the control scheme. The experimental results validated the effectiveness of the designed microgripper and hybrid control scheme. The developed microgripper was capable of precision and multiscale micromanipulation tasks.<\/jats:p>","DOI":"10.3390\/s18041301","type":"journal-article","created":{"date-parts":[[2018,4,24]],"date-time":"2018-04-24T04:44:48Z","timestamp":1524545088000},"page":"1301","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Development and Hybrid Position\/Force Control of a Dual-Drive Macro-Fiber-Composite Microgripper"],"prefix":"10.3390","volume":"18","author":[{"given":"Jin","family":"Zhang","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9771-850X","authenticated-orcid":false,"given":"Yiling","family":"Yang","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8970-8472","authenticated-orcid":false,"given":"Junqiang","family":"Lou","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanding","family":"Wei","sequence":"additional","affiliation":[{"name":"The Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, Zhejiang University, Hangzhou 310058, China"},{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Fu","sequence":"additional","affiliation":[{"name":"The Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, Zhejiang University, Hangzhou 310058, China"},{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,4,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s00170-015-7801-z","article-title":"A modified post-processing technique to design a compliant based microgripper with a plunger using topological optimization","volume":"93","author":"Bharanidaran","year":"2017","journal-title":"Int. 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