{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,7]],"date-time":"2026-09-07T13:12:09Z","timestamp":1788786729626,"version":"build-2803163510"},"reference-count":29,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2026,9,5]],"date-time":"2026-09-05T00:00:00Z","timestamp":1788566400000},"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":["52275297"],"award-info":[{"award-number":["52275297"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"award":["52275297"],"award-info":[{"award-number":["52275297"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>To address contact force estimation and compliant control for biomimetic robotic arms interacting with uncertain environments, an adaptive variable-damping impedance control method based on a fuzzy-controlled forgetting-factor strong tracking Kalman filter (FSKF) is proposed. The proposed method improves the conventional strong tracking Kalman filter (SKF) by introducing a fuzzy control strategy to adaptively adjust the forgetting factor, thereby enhancing the filtering performance and improving the accuracy of contact force estimation. The estimated contact force is subsequently incorporated into an adaptive variable-damping impedance controller to achieve simultaneous contact force estimation and compliant control of the biomimetic robotic arm. During biomimetic robotic arm motion, the proposed controller utilizes the estimated contact force to adaptively regulate the damping coefficient, compensating for force-tracking errors caused by environmental uncertainties and thereby improving both force and position tracking performance. The simulation and experimental results demonstrate that the proposed adaptive variable-damping impedance controller has better force and position tracking accuracy compared with the conventional impedance controller. Compared with traditional methods, the estimation accuracy based on FSKF has improved by about 7.3%. These results demonstrate the potential of the proposed method for prosthetic systems and other applications involving compliant robot\u2013environment interaction.<\/jats:p>","DOI":"10.3390\/biomimetics11090637","type":"journal-article","created":{"date-parts":[[2026,9,7]],"date-time":"2026-09-07T12:12:25Z","timestamp":1788783145000},"page":"637","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Sensorless Contact Force Estimation and Adaptive Variable-Damping Compliant Control for Biomimetic Robotic Arm"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-3881-1683","authenticated-orcid":false,"given":"Yanwei","family":"Xie","sequence":"first","affiliation":[{"name":"State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha 410083, China"},{"name":"College of Mechanical & Electrical Engineering, Central South University, Changsha 410083, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"given":"Jiawen","family":"He","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Robotic, Hunan University, Changsha 410082, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3398-992X","authenticated-orcid":false,"given":"Yi","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha 410083, China"},{"name":"College of Mechanical & Electrical Engineering, Central South University, Changsha 410083, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2395","DOI":"10.1038\/s41467-025-57741-6","article-title":"Soft Robotic Hand with Tactile Palm-Finger Coordination","volume":"16","author":"Zhang","year":"2025","journal-title":"Nat. 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