{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T04:30:33Z","timestamp":1772253033750,"version":"3.50.1"},"reference-count":29,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2018,7,20]],"date-time":"2018-07-20T00:00:00Z","timestamp":1532044800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100010198","name":"Ministerio de Econom\u00eda, Industria y Competitividad, Gobierno de Espa\u00f1a","doi-asserted-by":"publisher","award":["DPI2015-68087-R"],"award-info":[{"award-number":["DPI2015-68087-R"]}],"id":[{"id":"10.13039\/501100010198","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["SOE2\/P1\/F0638"],"award-info":[{"award-number":["SOE2\/P1\/F0638"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100009092","name":"Universidad de Alicante","doi-asserted-by":"publisher","award":["GRE16-20"],"award-info":[{"award-number":["GRE16-20"]}],"id":[{"id":"10.13039\/100009092","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a system that combines computer vision and surface electromyography techniques to perform grasping tasks with a robotic hand. In order to achieve a reliable grasping action, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases in more than a 13% the grasping accuracy of previous experiments in which electromyographic control was not implemented.<\/jats:p>","DOI":"10.3390\/s18072366","type":"journal-article","created":{"date-parts":[[2018,7,23]],"date-time":"2018-07-23T03:24:27Z","timestamp":1532316267000},"page":"2366","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Vision-Driven Collaborative Robotic Grasping System Tele-Operated by Surface Electromyography"],"prefix":"10.3390","volume":"18","author":[{"given":"Andr\u00e9s","family":"\u00dabeda","sequence":"first","affiliation":[{"name":"Department of Physics, System Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain"},{"name":"Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Brayan S.","family":"Zapata-Impata","sequence":"additional","affiliation":[{"name":"Department of Physics, System Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain"},{"name":"Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6175-600X","authenticated-orcid":false,"given":"Santiago T.","family":"Puente","sequence":"additional","affiliation":[{"name":"Department of Physics, System Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain"},{"name":"Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9288-0161","authenticated-orcid":false,"given":"Pablo","family":"Gil","sequence":"additional","affiliation":[{"name":"Department of Physics, System Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain"},{"name":"Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francisco","family":"Candelas","sequence":"additional","affiliation":[{"name":"Department of Physics, System Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain"},{"name":"Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando","family":"Torres","sequence":"additional","affiliation":[{"name":"Department of Physics, System Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain"},{"name":"Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1109\/THMS.2016.2604366","article-title":"A Predictive Model for Use of an Assistive Robotic Manipulator: Human Factors versus Performance in Pick-and-Place\/Retrieval Tasks","volume":"46","author":"Paperno","year":"2016","journal-title":"IEEE Trans. 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