{"id":"https://openalex.org/W44605677","doi":null,"title":"Design and control of an underactuated prosthetic hand","display_name":"Design and control of an underactuated prosthetic hand","publication_year":2012,"publication_date":"2012-03-07","ids":{"openalex":"https://openalex.org/W44605677","mag":"44605677"},"language":"en","primary_location":{"id":"mag:44605677","doi":null,"is_oa":false,"landing_page_url":"http://www.wseas.us/e-library/conferences/2012/Vouliagmeni/ACA/ACA-11.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059273744","display_name":"Amir Fassih","orcid":"https://orcid.org/0000-0002-8609-8322","observed_orcids":["https://orcid.org/0000-0002-8609-8322"]},"institutions":[{"id":"https://openalex.org/I106969075","display_name":"Idaho State University","ror":"https://ror.org/0162z8b04","country_code":"US","type":"education","lineage":["https://openalex.org/I106969075"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amir Fassih","raw_affiliation_strings":["School of Engineering, Idaho State University, Idaho#TAB#"],"raw_orcid":"https://orcid.org/0000-0002-8609-8322","affiliations":[{"raw_affiliation_string":"School of Engineering, Idaho State University, Idaho#TAB#","institution_ids":["https://openalex.org/I106969075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103354957","display_name":"Desineni Subbaram Naidu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I106969075","display_name":"Idaho State University","ror":"https://ror.org/0162z8b04","country_code":"US","type":"education","lineage":["https://openalex.org/I106969075"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Subbaram Naidu","raw_affiliation_strings":["School of Engineering, Idaho State University, Idaho#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Idaho State University, Idaho#TAB#","institution_ids":["https://openalex.org/I106969075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035590592","display_name":"Steve C. Chiu","orcid":"https://orcid.org/0000-0001-9092-9937","observed_orcids":["https://orcid.org/0000-0001-9092-9937"]},"institutions":[{"id":"https://openalex.org/I106969075","display_name":"Idaho State University","ror":"https://ror.org/0162z8b04","country_code":"US","type":"education","lineage":["https://openalex.org/I106969075"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve C. Chiu","raw_affiliation_strings":["School of Engineering, Idaho State University, Idaho#TAB#"],"raw_orcid":"https://orcid.org/0000-0001-9092-9937","affiliations":[{"raw_affiliation_string":"School of Engineering, Idaho State University, Idaho#TAB#","institution_ids":["https://openalex.org/I106969075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103473300","display_name":"Parmod Kumar","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I106969075","display_name":"Idaho State University","ror":"https://ror.org/0162z8b04","country_code":"US","type":"education","lineage":["https://openalex.org/I106969075"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parmod Kumar","raw_affiliation_strings":["School of Engineering, Idaho State University, Idaho#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Idaho State University, Idaho#TAB#","institution_ids":["https://openalex.org/I106969075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I106969075"],"apc_list":null,"apc_paid":null,"fwci":0.3235,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56453516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"77","last_page":"82"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.4844000041484833,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.4844000041484833,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4108999967575073,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.05739999935030937,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-hand-design","display_name":"robotic hand design","score":0.8889999985694885},{"id":"https://openalex.org/keywords/virtual-work-method","display_name":"virtual work method","score":0.7850000262260437},{"id":"https://openalex.org/keywords/load-displacement-curve","display_name":"load-displacement curve","score":0.8019999861717224},{"id":"https://openalex.org/keywords/pd-controller","display_name":"PD control","score":0.8389999866485596}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9654140472412109},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5740314722061157},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5421280860900879},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5002267360687256},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49923062324523926},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4931792616844177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4772346317768097},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.45928454399108887},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44792577624320984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36717188358306885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29451829195022583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2335565984249115},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:44605677","doi":null,"is_oa":false,"landing_page_url":"http://www.wseas.us/e-library/conferences/2012/Vouliagmeni/ACA/ACA-11.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W46830337","https://openalex.org/W1510918013","https://openalex.org/W1881109849","https://openalex.org/W1979081893","https://openalex.org/W2048553957","https://openalex.org/W2086587468","https://openalex.org/W2100756547","https://openalex.org/W2100790457","https://openalex.org/W2106526692","https://openalex.org/W2121271097","https://openalex.org/W2133644836","https://openalex.org/W2159972489","https://openalex.org/W2162912134","https://openalex.org/W2318133036","https://openalex.org/W2534051862"],"related_works":["https://openalex.org/W2129908076","https://openalex.org/W2617906731","https://openalex.org/W2237181657","https://openalex.org/W2108345668","https://openalex.org/W2491517661","https://openalex.org/W1521361850","https://openalex.org/W1971746450","https://openalex.org/W2120353831","https://openalex.org/W2978496844","https://openalex.org/W2348040497"],"abstract_inverted_index":{"The":[0,39],"robotic":[1],"hands":[2,16,26,41,106],"can":[3,42],"be":[4],"divided":[5],"into":[6],"two":[7,85],"major":[8],"groups:":[9],"fully-actuated":[10,15],"and":[11,63,89,107],"underactuated":[12,25,40],"hands.":[13],"In":[14],"all":[17],"the":[18,27,45,108],"joints":[19],"have":[20,56],"separate":[21],"motors,":[22],"while":[23,54],"in":[24],"number":[28,34],"of":[29,35,37,50,92,98,105,110],"motors":[30],"is":[31,65,78,100,113],"less":[32,57],"than":[33],"degrees":[36],"freedom.":[38],"adapt":[43],"to":[44,80],"object":[46],"shape":[47],"by":[48],"use":[49],"their":[51],"mechanical":[52],"design":[53],"they":[55],"functionality.":[58],"A":[59,95],"relationship":[60,74],"between":[61],"forces":[62],"displacement":[64],"found":[66],"through":[67],"virtual":[68,120],"work":[69],"method.":[70],"Based":[71],"on":[72,84],"this":[73,103],"an":[75],"analytical":[76],"approach":[77],"used":[79],"optimize":[81],"hand":[82,112,118],"based":[83],"criteria:":[86],"isotopic":[87],"force":[88],"maximum":[90],"chance":[91],"stable":[93],"grasping.":[94],"PD":[96],"type":[97],"controller":[99],"designed":[101,111],"for":[102],"class":[104],"functionality":[109],"compared":[114],"with":[115],"fully":[116],"actuated":[117],"using":[119],"spring":[121],"damper":[122],"hypothesis.":[123]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-10-02T10:15:12.560889","created_date":"2016-06-24T00:00:00"}