{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T20:16:02Z","timestamp":1790885762766,"version":"4.1.0"},"reference-count":30,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2025,6,30]],"date-time":"2025-06-30T00:00:00Z","timestamp":1751241600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"King Salman Center For Disability Research","award":["KSRG-2024-286"],"award-info":[{"award-number":["KSRG-2024-286"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Assistive technologies, particularly multi-fingered robotic hands (MFRHs), are critical for enhancing the quality of life for individuals with upper-limb disabilities. However, achieving precise and stable control of such systems remains a significant challenge. This study proposes an Improved Grey Wolf Optimization (IGWO)-tuned Linear Quadratic Regulator (LQR) to enhance the control performance of an MFRH. The MFRH was modeled using Denavit\u2013Hartenberg kinematics and Euler\u2013Lagrange dynamics, with micro-DC motors selected based on computed torque requirements. The LQR controller, optimized via IGWO to systematically determine weighting matrices, was benchmarked against PID and PID-PSO controllers under diverse input scenarios. For step input, the IGWO-LQR achieved a settling time of 0.018 s with zero overshoot for Joint 1, outperforming PID (settling time: 0.0721 s; overshoot: 6.58%) and PID-PSO (settling time: 0.042 s; overshoot: 2.1%). Similar improvements were observed across all joints, with Joint 3 recording an IAE of 0.001334 for IGWO-LQR versus 0.004695 for PID. Evaluations under square-wave, sine, and sigmoid inputs further validated the controller\u2019s robustness, with IGWO-LQR consistently delivering minimal tracking errors and rapid stabilization. These results demonstrate that the IGWO-LQR framework significantly enhances precision and dynamic response.<\/jats:p>","DOI":"10.3390\/biomimetics10070423","type":"journal-article","created":{"date-parts":[[2025,6,30]],"date-time":"2025-06-30T12:10:31Z","timestamp":1751285431000},"page":"423","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Design of Adaptive LQR Control Based on Improved Grey Wolf Optimization for Prosthetic Hand"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3730-6145","authenticated-orcid":false,"given":"Khaled","family":"Ahmed","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah 21589, Saudi Arabia"},{"name":"King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8383-8014","authenticated-orcid":false,"given":"Ayman A.","family":"Aly","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia"},{"name":"King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1507-4163","authenticated-orcid":false,"given":"Mohamed O.","family":"Elhabib","sequence":"additional","affiliation":[{"name":"Control and Mechatronics Engineering Division, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Johor Bahru 81310, Malaysia"},{"name":"King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,6,30]]},"reference":[{"key":"ref_1","unstructured":"(2025, June 05). WHO. Assistive Technology. Available online: https:\/\/www.who.int\/news-room\/fact-sheets\/detail\/assistive-technology."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Binder, M.D., Hirokawa, N., and Windhorst, U. (2009). Encyclopedia of Neuroscience, Springer.","DOI":"10.1007\/978-3-540-29678-2"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Pons, J.L. (2008). Wearable Robots: Biomechatronic Exoskeletons, John Wiley & Sons.","DOI":"10.1002\/9780470987667"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Siciliano, B., Khatib, O., and Kr\u00f6ger, T. (2008). Springer Handbook of Robotics, Springer.","DOI":"10.1007\/978-3-540-30301-5"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1111\/j.1525-1594.2011.01219.x","article-title":"Development of an implantable myoelectric sensor for advanced prosthesis control","volume":"35","author":"Merrill","year":"2011","journal-title":"Artif. Organs"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"641","DOI":"10.1682\/JRRD.2010.09.0177","article-title":"Electromyogram pattern recognition for control of powered upper-limb prostheses: State of the art and challenges for clinical use","volume":"48","author":"Scheme","year":"2011","journal-title":"J. Rehabil. Res. Dev."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"eadu2018","DOI":"10.1126\/sciadv.adu2018","article-title":"Biomimetic rigid-soft finger design for highly dexterous and adaptive robotic hands","volume":"11","author":"Zhang","year":"2025","journal-title":"Sci. Adv."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1016\/j.rcim.2017.05.007","article-title":"A statistical review of industrial robotic grippers","volume":"49","author":"Birglen","year":"2018","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"ref_9","first-page":"235","article-title":"Tactile sensing and control of robotic manipulation","volume":"15","author":"Howe","year":"1996","journal-title":"Int. J. Rob. Res."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1007\/s00422-006-0124-2","article-title":"Design of a cybernetic hand for perception and action","volume":"95","author":"Carrozza","year":"2006","journal-title":"Biol. Cybern."},{"key":"ref_11","first-page":"e43210","article-title":"Artificial intelligence (AI) and robotics in elderly healthcare: Enabling independence and quality of life","volume":"15","author":"Padhan","year":"2023","journal-title":"Cureus"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"585","DOI":"10.1177\/0278364909360852","article-title":"The highly adaptive SDM hand: Design and performance evaluation","volume":"29","author":"Dollar","year":"2010","journal-title":"Int. J. Rob. Res."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1109\/100.876907","article-title":"Legged robots at MIT: What\u2019s new since Raibert?","volume":"7","author":"Pratt","year":"2000","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"934","DOI":"10.1016\/j.cad.2011.03.002","article-title":"Three-dimensional surface reconstruction of human bone using a B-spline based interpolation approach","volume":"43","author":"Yoo","year":"2011","journal-title":"Comput.-Aided Des."},{"key":"ref_15","unstructured":"Bicchi, A., and Kumar, V. (2000, January 24\u201328). Robotic grasping and contact: A review. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000), San Francisco, CA, USA."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"652","DOI":"10.1109\/70.897777","article-title":"Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity","volume":"16","author":"Bicchi","year":"2000","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"725","DOI":"10.1109\/TCST.2006.872505","article-title":"Motion and force control of cooperative robotic manipulators with passive joints","volume":"14","author":"Terra","year":"2006","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_18","unstructured":"Parasuraman, S. (2008, January 17\u201319). Kinematics and control system design of manipulators for humanoid robot. Proceedings of the World Congress on Science, Engineering and Technology, Bangkok, Thailand."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Cheraghpour, F., Moosavian, S.A.A., and Nahvi, A. (2010, January 11\u201313). Robotic grasp planning by multiple aspects grasp index for object manipulation tasks. Proceedings of the 18th Iranian Conference on Electrical Engineering, Isfahan, Iran.","DOI":"10.1109\/IRANIANCEE.2010.5506995"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"69","DOI":"10.5772\/58536","article-title":"Analysis of coordinated motions of humanoid robot fingers using interphalangeal joint coordination","volume":"11","author":"Kim","year":"2014","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1109\/THMS.2015.2470657","article-title":"The grasp taxonomy of human grasp types","volume":"46","author":"Feix","year":"2016","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Barbagli, F., Frisoli, A., Salisbury, K., and Bergamasco, M. (2004, January 27\u201328). Simulating human fingers: A soft finger proxy model and algorithm. Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS\u201904), Chicago, IL, USA.","DOI":"10.1109\/HAPTIC.2004.1287172"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Miyata, N., Kouchi, M., and Mochimaru, M. (2007). Generation and Validation of 3D Links for Representative Hand Models, SAE International. SAE Technical Paper 2007-01-2512.","DOI":"10.4271\/2007-01-2512"},{"key":"ref_24","unstructured":"Ekvall, S., and Kragic, D. (May, January 26). Interactive grasp learning based on human demonstration. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201904), New Orleans, LA, USA."},{"key":"ref_25","unstructured":"Amft, O., Junker, H., Lukowicz, P., Tr\u00f6ster, G., and Schuster, C. (2006, January 3\u20135). Sensing muscle activities with body-worn sensors. Proceedings of the International Workshop on Wearable and Implantable Body Sensor Networks (BSN\u201906), Cambridge, MA, USA."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1007\/s11517-009-0465-9","article-title":"Development of a prosthesis shoulder mechanism for upper limb amputees: Application of an original design methodology to optimize functionality and wearability","volume":"47","author":"Troncossi","year":"2009","journal-title":"Med. Biol. Eng. Comput."},{"key":"ref_27","first-page":"207","article-title":"An overview of the developmental process for the modular prosthetic limb","volume":"30","author":"Johannes","year":"2011","journal-title":"Johns Hopkins APL Tech. Dig."},{"key":"ref_28","unstructured":"Ali, A.M.M., and Jamil, M.M.A. (2013, January 23\u201325). Biomechatronics design of a novel artificial arm. Proceedings of the 6th Biomedical Engineering International Conference (BMEiCON), Krabi, Thailand."},{"key":"ref_29","first-page":"89","article-title":"Kinematic and dynamic modeling of a multi-fingered robot hand","volume":"9","author":"Tarmizi","year":"2009","journal-title":"Int. J. Basic Appl. Sci."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"113917","DOI":"10.1016\/j.eswa.2020.113917","article-title":"An improved grey wolf optimizer for solving engineering problems","volume":"166","author":"Taghian","year":"2021","journal-title":"Expert Syst. Appl."}],"container-title":["Biomimetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2313-7673\/10\/7\/423\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T18:01:42Z","timestamp":1760032902000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2313-7673\/10\/7\/423"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,30]]},"references-count":30,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2025,7]]}},"alternative-id":["biomimetics10070423"],"URL":"https:\/\/doi.org\/10.3390\/biomimetics10070423","relation":{},"ISSN":["2313-7673"],"issn-type":[{"value":"2313-7673","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,6,30]]}}}