{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,28]],"date-time":"2026-08-28T05:22:53Z","timestamp":1787894573785,"version":"build-2784847793"},"reference-count":42,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2025,3,21]],"date-time":"2025-03-21T00:00:00Z","timestamp":1742515200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U22B2079"],"award-info":[{"award-number":["U22B2079"]}],"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":["62103054"],"award-info":[{"award-number":["62103054"]}],"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":["62273049"],"award-info":[{"award-number":["62273049"]}],"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":["U2013602"],"award-info":[{"award-number":["U2013602"]}],"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":["L243011"],"award-info":[{"award-number":["L243011"]}],"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":["4232054"],"award-info":[{"award-number":["4232054"]}],"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":["4242050"],"award-info":[{"award-number":["4242050"]}],"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":["HFNKL2023WW06"],"award-info":[{"award-number":["HFNKL2023WW06"]}],"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":["XSQD-6120220298"],"award-info":[{"award-number":["XSQD-6120220298"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["U22B2079"],"award-info":[{"award-number":["U22B2079"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["62103054"],"award-info":[{"award-number":["62103054"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["62273049"],"award-info":[{"award-number":["62273049"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["U2013602"],"award-info":[{"award-number":["U2013602"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["L243011"],"award-info":[{"award-number":["L243011"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["4232054"],"award-info":[{"award-number":["4232054"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["4242050"],"award-info":[{"award-number":["4242050"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["HFNKL2023WW06"],"award-info":[{"award-number":["HFNKL2023WW06"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004826","name":"Beijing Natural Science Foundation","doi-asserted-by":"publisher","award":["XSQD-6120220298"],"award-info":[{"award-number":["XSQD-6120220298"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["U22B2079"],"award-info":[{"award-number":["U22B2079"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["62103054"],"award-info":[{"award-number":["62103054"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["62273049"],"award-info":[{"award-number":["62273049"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["U2013602"],"award-info":[{"award-number":["U2013602"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["L243011"],"award-info":[{"award-number":["L243011"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["4232054"],"award-info":[{"award-number":["4232054"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["4242050"],"award-info":[{"award-number":["4242050"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["HFNKL2023WW06"],"award-info":[{"award-number":["HFNKL2023WW06"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016089","name":"Foundation of National Key Laboratory of Human Factors Engineering","doi-asserted-by":"publisher","award":["XSQD-6120220298"],"award-info":[{"award-number":["XSQD-6120220298"]}],"id":[{"id":"10.13039\/100016089","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["U22B2079"],"award-info":[{"award-number":["U22B2079"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["62103054"],"award-info":[{"award-number":["62103054"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["62273049"],"award-info":[{"award-number":["62273049"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["U2013602"],"award-info":[{"award-number":["U2013602"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["L243011"],"award-info":[{"award-number":["L243011"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["4232054"],"award-info":[{"award-number":["4232054"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["4242050"],"award-info":[{"award-number":["4242050"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["HFNKL2023WW06"],"award-info":[{"award-number":["HFNKL2023WW06"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012236","name":"Beijing Institute of Technology Research Fund Program for Young Scholars","doi-asserted-by":"publisher","award":["XSQD-6120220298"],"award-info":[{"award-number":["XSQD-6120220298"]}],"id":[{"id":"10.13039\/501100012236","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Teleoperation enables robots to perform tasks in dangerous or hard-to-reach environments on behalf of humans, but most methods lack operator immersion and compliance during grasping. To significantly enhance the operator\u2019s sense of immersion and achieve more compliant and adaptive grasping of objects, we introduce a novel teleoperation method for dexterous robotic hands. This method integrates finger-to-finger force and vibrotactile feedback based on the Fuzzy Logic-Dynamic Compliant Primitives (FL-DCP) controller. It employs fuzzy logic theory to identify the stiffness of the object being grasped, facilitating more effective manipulation during teleoperated tasks. Utilizing Dynamic Compliant Primitives, the robotic hand implements adaptive impedance control in torque mode based on stiffness identification. Then the immersive bilateral teleoperation system integrates finger-to-finger force and vibrotactile feedback, with real-time force information from the robotic hand continuously transmitted back to the operator to enhance situational awareness and operational judgment. This bidirectional feedback loop increases the success rate of teleoperation and reduces operator fatigue, improving overall performance. Experimental results show that this bio-inspired method outperforms existing approaches in compliance and adaptability during teleoperation grasping tasks. This method mirrors how human naturally modulate muscle stiffness when interacting with different objects, integrating human-like decision-making and precise robotic control to advance teleoperated systems and pave the way for broader applications in remote environments.<\/jats:p>","DOI":"10.3390\/biomimetics10040194","type":"journal-article","created":{"date-parts":[[2025,3,21]],"date-time":"2025-03-21T07:25:00Z","timestamp":1742541900000},"page":"194","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["A Novel Hand Teleoperation Method with Force and Vibrotactile Feedback Based on Dynamic Compliant Primitives Controller"],"prefix":"10.3390","volume":"10","author":[{"given":"Peixuan","family":"Hu","sequence":"first","affiliation":[{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5670-028X","authenticated-orcid":false,"given":"Xiao","family":"Huang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunlai","family":"Wang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hui","family":"Li","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhihong","family":"Jiang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,3,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1109\/THMS.2018.2791570","article-title":"A topology of shared control systems\u2014Finding common ground in diversity","volume":"48","author":"Abbink","year":"2018","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"eaaw0955","DOI":"10.1126\/scirobotics.aaw0955","article-title":"Shared control\u2013based bimanual robot manipulation","volume":"4","author":"Rakita","year":"2019","journal-title":"Sci. Robot."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1109\/THMS.2020.3017748","article-title":"A review of shared control for automated vehicles: Theory and applications","volume":"50","author":"Marcano","year":"2020","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"410","DOI":"10.1109\/THMS.2022.3155716","article-title":"Shared control in robot teleoperation with improved potential fields","volume":"52","author":"Gottardi","year":"2022","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Hu, H., Shi, D., Yang, C., Si, W., and Li, Q. (2024, January 25\u201327). A Novel Shared Control Framework Based on Imitation Learning. Proceedings of the 2024 IEEE International Conference on Industrial Technology (ICIT), Bristol, UK.","DOI":"10.1109\/ICIT58233.2024.10540824"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"377","DOI":"10.1109\/LRA.2019.2959442","article-title":"A teleoperation framework for mobile robots based on shared control","volume":"5","author":"Luo","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"400","DOI":"10.1038\/s42256-019-0093-5","article-title":"Shared human\u2013robot proportional control of a dexterous myoelectric prosthesis","volume":"1","author":"Zhuang","year":"2019","journal-title":"Nat. Mach. Intell."},{"key":"ref_8","first-page":"66","article-title":"Design and rapid construction of a cost-effective virtual haptic device","volume":"26","author":"Wang","year":"2020","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"10825","DOI":"10.1007\/s13369-023-07720-0","article-title":"A new home-based upper-and lower-limb telerehabilitation platform with experimental validation","volume":"48","author":"Latreche","year":"2023","journal-title":"Arab. J. Sci. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"10873","DOI":"10.1109\/LRA.2022.3196104","article-title":"From one hand to multiple hands: Imitation learning for dexterous manipulation from single-camera teleoperation","volume":"7","author":"Qin","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2405","DOI":"10.1109\/TASE.2024.3379247","article-title":"Robust motion learning for musculoskeletal robots based on a recurrent neural network and muscle synergies","volume":"22","author":"Chen","year":"2024","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"453","DOI":"10.1109\/TASE.2024.3352580","article-title":"Guided Model-Based Policy Search Method for Fast Motor Learning of Robots With Learned Dynamics","volume":"22","author":"Huang","year":"2024","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1706","DOI":"10.1109\/TRO.2023.3236952","article-title":"Teleoperation of humanoid robots: A survey","volume":"39","author":"Darvish","year":"2023","journal-title":"IEEE Trans. Robot."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Kumar, V., and Todorov, E. (2015, January 3\u20135). Mujoco haptix: A virtual reality system for hand manipulation. Proceedings of the 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, Republic of Korea.","DOI":"10.1109\/HUMANOIDS.2015.7363441"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"198","DOI":"10.1016\/j.neucom.2017.02.101","article-title":"3D human gesture capturing and recognition by the IMMU-based data glove","volume":"277","author":"Fang","year":"2018","journal-title":"Neurocomputing"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Kukli\u0144ski, K., Fischer, K., Marhenke, I., Kirstein, F., Maria, V., S\u00f8lvason, D., Kr\u00fcger, N., and Savarimuthu, T.R. (2014, January 6\u20138). Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control. Proceedings of the 2014 6th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), St. Petersburg, Russia.","DOI":"10.1109\/ICUMT.2014.7002126"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"eaao4900","DOI":"10.1126\/scirobotics.aao4900","article-title":"Vision-based grasp learning of an anthropomorphic hand-arm system in a synergy-based control framework","volume":"4","author":"Ficuciello","year":"2019","journal-title":"Sci. Robot."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Qin, Y., Yang, W., Huang, B., Van Wyk, K., Su, H., Wang, X., Chao, Y.W., and Fox, D. (2023). Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system. arXiv.","DOI":"10.15607\/RSS.2023.XIX.015"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Handa, A., Van Wyk, K., Yang, W., Liang, J., Chao, Y.W., Wan, Q., Birchfield, S., Ratliff, N., and Fox, D. (August, January 31). Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system. Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.","DOI":"10.1109\/ICRA40945.2020.9197124"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"He, R., Zhang, B., Bi, Z., and Zhang, W. (2022, January 16\u201318). Development of a hybrid haptic device with high degree of motion decoupling. Proceedings of the 2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nanjing, China.","DOI":"10.1109\/M2VIP55626.2022.10041070"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"2381","DOI":"10.1007\/s00542-022-05382-w","article-title":"Force feedback haptic interface for bilateral teleoperation of robot manipulation","volume":"28","author":"Bong","year":"2022","journal-title":"Microsyst. Technol."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Meeker, C., Rasmussen, T., and Ciocarlie, M. (2018, January 21\u201325). Intuitive hand teleoperation by novice operators using a continuous teleoperation subspace. Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia.","DOI":"10.1109\/ICRA.2018.8460506"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Shintemirov, A., Taunyazov, T., Omarali, B., Nurbayeva, A., Kim, A., Bukeyev, A., and Rubagotti, M. (2020). An open-source 7-DOF wireless human arm motion-tracking system for use in robotics research. Sensors, 20.","DOI":"10.3390\/s20113082"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1109\/THMS.2022.3206663","article-title":"An efficient RGB-D hand gesture detection framework for dexterous robot hand-arm teleoperation system","volume":"53","author":"Gao","year":"2022","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Zeng, C., Li, S., Jiang, Y., Li, Q., Chen, Z., Yang, C., and Zhang, J. (October, January 27). Learning compliant grasping and manipulation by teleoperation with adaptive force control. Proceedings of the 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic.","DOI":"10.1109\/IROS51168.2021.9636832"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Suomalainen, M., Calinon, S., Pignat, E., and Kyrki, V. (2019, January 20\u201324). Improving dual-arm assembly by master-slave compliance. Proceedings of the 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada.","DOI":"10.1109\/ICRA.2019.8793977"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Mart\u00edn Mart\u00edn, R., Lee, M.A., Gardner, R., Savarese, S., Bohg, J., and Garg, A. (2019, January 3\u20138). Variable impedance control in end-effector space: An action space for reinforcement learning in contact-rich tasks. Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China.","DOI":"10.1109\/IROS40897.2019.8968201"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1007\/s10846-020-01183-3","article-title":"Model-based reinforcement learning variable impedance control for human-robot collaboration","volume":"100","author":"Roveda","year":"2020","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"8013","DOI":"10.1109\/TIE.2017.2694391","article-title":"Adaptive impedance control of human\u2013robot cooperation using reinforcement learning","volume":"64","author":"Li","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Li, M., Yin, H., Tahara, K., and Billard, A. (June, January 31). Learning object-level impedance control for robust grasping and dexterous manipulation. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China.","DOI":"10.1109\/ICRA.2014.6907861"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Babuska, R., and Verbruggen, H.B. (1999). Fuzzy Logic Control: Advances in Applications, World Scientific.","DOI":"10.1142\/9789812815392"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"470","DOI":"10.1016\/j.jprocont.2011.12.001","article-title":"Robustness of fuzzy PID controller due to its inherent saturation","volume":"22","author":"Duan","year":"2012","journal-title":"J. Process Control"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"4625","DOI":"10.1109\/TIM.2020.2983531","article-title":"Evolving fuzzy models for prosthetic hand myoelectric-based control","volume":"69","author":"Precup","year":"2020","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","article-title":"Impedance control: An approach to manipulation: Part I\u2014Theory","volume":"107","author":"Hogan","year":"1985","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1115\/1.3140713","article-title":"Impedance control: An approach to manipulation: Part II\u2014Implementation","volume":"107","author":"Hogan","year":"1985","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1248","DOI":"10.1109\/LRA.2021.3056371","article-title":"Learning optimal impedance control during complex 3D arm movements","volume":"6","author":"Naceri","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"1133","DOI":"10.1177\/02783649231201196","article-title":"Dynamic movement primitives in robotics: A tutorial survey","volume":"42","author":"Saveriano","year":"2023","journal-title":"Int. J. Robot. Res."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1016\/S0079-6123(06)65027-9","article-title":"Dynamics systems vs. optimal control\u2014A unifying view","volume":"165","author":"Schaal","year":"2007","journal-title":"Prog. Brain Res."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1162\/NECO_a_00393","article-title":"Dynamical movement primitives: Learning attractor models for motor behaviors","volume":"25","author":"Ijspeert","year":"2013","journal-title":"Neural Comput."},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Cao, X., Huang, X., Zhao, Y., Sun, Z., Li, H., Jiang, Z., and Ceccarelli, M. (2023). A method of human-like compliant assembly based on variable admittance control for space maintenance. Cyborg Bionic Syst., 4.","DOI":"10.34133\/cbsystems.0046"},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Jiang, Z., Ma, Y., Cao, X., Shen, M., Yin, C., Liu, H., Cui, J., Sun, Z., Huang, X., and Li, H. (2023). FC-EODR: Immersive humanoid dual-arm dexterous explosive ordnance disposal robot. Biomimetics, 8.","DOI":"10.3390\/biomimetics8010067"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Rakita, D., Mutlu, B., and Gleicher, M. (2018, January 26\u201330). RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion. Proceedings of the Robotics: Science and Systems, Pittsburgh, PA, USA.","DOI":"10.15607\/RSS.2018.XIV.043"}],"container-title":["Biomimetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2313-7673\/10\/4\/194\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T16:57:46Z","timestamp":1760029066000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2313-7673\/10\/4\/194"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,3,21]]},"references-count":42,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2025,4]]}},"alternative-id":["biomimetics10040194"],"URL":"https:\/\/doi.org\/10.3390\/biomimetics10040194","relation":{},"ISSN":["2313-7673"],"issn-type":[{"value":"2313-7673","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,3,21]]}}}