{"id":"W4414735568","doi":"10.1007/s11012-025-02050-x","title":"Implementation of a hybrid force/position control system on a robot hand for stable grasping with haptic feedback","year":2025,"lang":"en","type":"article","venue":"Meccanica","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":false,"ca_institutions":"Toronto Metropolitan University","funders":"","keywords":"Haptic technology; Robotic hand; Robotics; Robot; Robot hand; Focus (optics); Field (mathematics); Control (management)","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.000105561,0.00009398203,0.0001682092,0.00008686296,0.00009076147,0.0000399561,0.00004923777,0.00001895157,0.00001839115],"category_scores_gemma":[0.000006349459,0.00008925197,0.00003867272,0.0001006115,0.000008850472,0.00007160343,0.000004478516,0.00005503025,0.00000372583],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001153451,"about_ca_system_score_gemma":0.00002446457,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00004440868,"about_ca_topic_score_gemma":0.00005614459,"domain_scores_codex":[0.999419,0.00001885719,0.0002116759,0.0001140306,0.00008718366,0.000149304],"domain_scores_gemma":[0.9997088,0.00004759174,0.00005616342,0.0001108037,0.00005246124,0.00002423707],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0001108957,0.00001025127,0.0002737081,0.0005742014,0.0001282053,0.00000121424,0.0001008568,0.9305246,0.05754059,0.009354408,0.0002403246,0.001140726],"study_design_scores_gemma":[0.003273782,0.0002666686,0.002791533,0.0005903899,0.0001096185,0.000003508025,0.000649234,0.9497299,0.04203616,0.00006877447,0.000322236,0.0001581742],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1072775,0.00004281629,0.8906752,0.00007969829,0.00009357698,0.0005576705,0.000003340965,0.0001090923,0.00116118],"genre_scores_gemma":[0.9987792,9.122619e-7,0.0008885459,0.00003611225,0.00002082926,0.00008869278,0.00002055618,0.00001886367,0.0001462649],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8915018,"threshold_uncertainty_score":0.363959,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.008782075197561214,"score_gpt":0.2379733865251527,"score_spread":0.2291913113275915,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}