{"id":"https://openalex.org/W4394804175","doi":"https://doi.org/10.1002/aisy.202300691","title":"Exploring Kinematic Bifurcations and Hinge Compliance for In\u2010Hand Manipulation: How Could Thick\u2010Panel Origami Contribute?","display_name":"Exploring Kinematic Bifurcations and Hinge Compliance for In\u2010Hand Manipulation: How Could Thick\u2010Panel Origami Contribute?","publication_year":2024,"publication_date":"2024-04-15","ids":{"openalex":"https://openalex.org/W4394804175","doi":"https://doi.org/10.1002/aisy.202300691"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202300691","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300691","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300691","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300691","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010526707","display_name":"Chenying Liu","orcid":"https://orcid.org/0000-0002-6946-727X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenying Liu","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"raw_orcid":"https://orcid.org/0000-0002-6946-727X","affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055205872","display_name":"Liang He","orcid":"https://orcid.org/0000-0002-4493-4660"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Liang He","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"raw_orcid":"https://orcid.org/0000-0002-4493-4660","affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047614061","display_name":"Sihan Wang","orcid":"https://orcid.org/0000-0002-2633-723X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sihan Wang","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"raw_orcid":"https://orcid.org/0000-0002-2633-723X","affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Albert Williams","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Albert Williams","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384571","display_name":"Zhong You","orcid":"https://orcid.org/0000-0002-5286-7218"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhong You","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"raw_orcid":"https://orcid.org/0000-0002-5286-7218","affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["GB","IT"],"is_corresponding":true,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Mechanical, Energy, Management and Transport Engineering \u2010 DIME University of Genoa  16143 Genoa Italy","Department of Mechanical, Energy, Management and Transport Engineering - DIME, University of Genoa, 16143 Genoa, Italy","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"raw_orcid":"https://orcid.org/0000-0002-7588-9567","affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transport Engineering \u2010 DIME University of Genoa  16143 Genoa Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Mechanical, Energy, Management and Transport Engineering - DIME, University of Genoa, 16143 Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054789141","https://openalex.org/A5100384571"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I83816512"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":0.5127,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5468568,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"6","issue":"6","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8083289861679077},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.7629860639572144},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.658148467540741},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.5014145374298096},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48332643508911133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46520668268203735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4455029368400574},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37984374165534973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33789533376693726},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33398523926734924},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3214080035686493},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2557029128074646},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1272505521774292}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8083289861679077},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.7629860639572144},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.658148467540741},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.5014145374298096},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48332643508911133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46520668268203735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4455029368400574},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37984374165534973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33789533376693726},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33398523926734924},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3214080035686493},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2557029128074646},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1272505521774292},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202300691","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300691","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300691","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b4fa2eb12c1b43d9af5c6bf5c28a60ef","is_oa":true,"landing_page_url":"https://doaj.org/article/b4fa2eb12c1b43d9af5c6bf5c28a60ef","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 6, Iss 6, Pp n/a-n/a (2024)","raw_type":"article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:91e60f04-0851-4f37-a5e5-60fbfb9d802e","is_oa":true,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:91e60f04-0851-4f37-a5e5-60fbfb9d802e","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Journal article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202300691","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300691","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300691","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3105706333","display_name":null,"funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6198381055","display_name":"From Sensing to Collaboration: Engineering, Exploring and Exploiting the Building Blocks of Embodied Intelligence - An EPSRC Programme Grant","funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394804175.pdf","grobid_xml":"https://content.openalex.org/works/W4394804175.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1975804725","https://openalex.org/W1996552722","https://openalex.org/W2149841830","https://openalex.org/W2164575107","https://openalex.org/W2343757578","https://openalex.org/W2580504612","https://openalex.org/W2789839425","https://openalex.org/W2791180667","https://openalex.org/W2801704144","https://openalex.org/W2950069298","https://openalex.org/W2990747716","https://openalex.org/W3048356206","https://openalex.org/W3185525136","https://openalex.org/W3198584734","https://openalex.org/W3208859462","https://openalex.org/W4200556188","https://openalex.org/W4206693075","https://openalex.org/W4210853116","https://openalex.org/W4221126376","https://openalex.org/W4226301680","https://openalex.org/W4285007693","https://openalex.org/W4289521734","https://openalex.org/W4376605709","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2354642913","https://openalex.org/W2043642088","https://openalex.org/W2384143566","https://openalex.org/W2940334365","https://openalex.org/W3093039488","https://openalex.org/W2354543700","https://openalex.org/W629783067","https://openalex.org/W3013935485","https://openalex.org/W1771995663","https://openalex.org/W2765432735"],"abstract_inverted_index":{"Origami\u2010inspired":[0],"mechanisms":[1],"have":[2,191],"found":[3],"significant":[4],"applications":[5],"in":[6,41],"end":[7],"effector":[8],"design.":[9],"So":[10],"far,":[11],"the":[12,27,67,73,85,101,116,132,148,156,182,188,194],"exploration":[13],"of":[14,29,62,90,184],"thick\u2010panel":[15,53,91],"origami":[16],"has":[17,48],"been":[18],"relatively":[19],"limited,":[20],"but":[21],"it":[22],"is":[23,82,96,109],"worth":[24],"noting":[25],"that":[26],"incorporation":[28],"rigid":[30],"thick":[31],"panels":[32],"can":[33,57,150],"introduce":[34],"unique":[35],"mechanical":[36],"properties,":[37],"showcasing":[38],"great":[39],"potential":[40,196],"addressing":[42],"manipulation":[43,173],"challenges.":[44],"Our":[45],"previous":[46],"work":[47],"developed":[49],"a":[50,60,139,145],"gripper":[51,149],"from":[52,76,159],"waterbomb":[54],"origami,":[55],"which":[56,81],"pick":[58],"up":[59],"variety":[61],"daily":[63],"objects.":[64],"Based":[65],"on":[66],"same":[68],"prototype,":[69],"this":[70],"article":[71],"extends":[72],"gripper's":[74,102,117,195],"function":[75],"grasping":[77],"to":[78,84,99,114,126],"in\u2010hand":[79,172],"manipulation,":[80],"attributed":[83],"kinematic":[86,94],"bifurcations":[87],"and":[88,122,167],"compliance":[89,108],"origami.":[92],"A":[93],"study":[95],"carried":[97],"out":[98],"investigate":[100],"bifurcated":[103],"motion":[104,118,176],"modes.":[105],"The":[106],"hinge":[107],"also":[110,192],"taken":[111],"into":[112],"account":[113],"enhance":[115],"dexterity.":[119],"Theoretical":[120],"analysis":[121],"experiments":[123],"are":[124,169],"conducted":[125],"demonstrate":[127],"both":[128],"features,":[129],"thereby":[130],"paving":[131],"foundation":[133],"for":[134,171,197],"achieving":[135],"dexterous":[136],"motions":[137],"with":[138,153,155],"simplified":[140],"control":[141],"strategy.":[142],"Aided":[143],"by":[144],"differential":[146],"mechanism,":[147],"effectively":[151],"interact":[152],"objects":[154],"actuation":[157],"inputs":[158],"only":[160],"two":[161],"motors.":[162],"Objects":[163],"including":[164],"balls,":[165],"cuboids,":[166],"cones":[168],"explored":[170],"under":[174],"different":[175],"modes,":[177],"showing":[178],"varied":[179],"trajectories.":[180],"With":[181],"integration":[183],"tactile":[185],"sensors":[186],"at":[187],"fingertips,":[189],"we":[190],"revealed":[193],"classification":[198],"tasks.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}