{"id":"https://openalex.org/W2601907279","doi":"https://doi.org/10.1007/978-3-319-50115-4_53","title":"Grasping and Manipulation by Underactuated Hand with Multi-Joint Fingers","display_name":"Grasping and Manipulation by Underactuated Hand with Multi-Joint Fingers","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2601907279","doi":"https://doi.org/10.1007/978-3-319-50115-4_53","mag":"2601907279"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-50115-4_53","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-50115-4_53","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"conference-paper","indexed_in":["crossref"],"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/A5046292294","display_name":"Takumi Tamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takumi Tamamoto","raw_affiliation_strings":["Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa, 259-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa, 259-1292, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041700929","display_name":"Soichiro Nomura","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Soichiro Nomura","raw_affiliation_strings":["Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa, 259-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa, 259-1292, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032480833","display_name":"Koichi Koganesawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Koganesawa","raw_affiliation_strings":["Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa, 259-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa, 259-1292, Japan","institution_ids":["https://openalex.org/I1314466530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5046292294"],"corresponding_institution_ids":["https://openalex.org/I1314466530"],"apc_list":null,"apc_paid":null,"fwci":0.4416,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44621159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"613","last_page":"621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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/underactuation","display_name":"Underactuation","score":0.8672419190406799},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7534283399581909},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.7446222305297852},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6974409222602844},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6238762736320496},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.623728334903717},{"id":"https://openalex.org/keywords/envelope","display_name":"Envelope (radar)","score":0.5645160675048828},{"id":"https://openalex.org/keywords/finger-joint","display_name":"Finger joint","score":0.5037209391593933},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.46061086654663086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45731186866760254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45199137926101685},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4491550326347351},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32888931035995483},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30320367217063904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17874330282211304},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10577216744422913},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08289849758148193},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.05434924364089966}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8672419190406799},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7534283399581909},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.7446222305297852},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6974409222602844},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6238762736320496},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.623728334903717},{"id":"https://openalex.org/C65155139","wikidata":"https://www.wikidata.org/wiki/Q5380912","display_name":"Envelope (radar)","level":3,"score":0.5645160675048828},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.5037209391593933},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.46061086654663086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45731186866760254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45199137926101685},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4491550326347351},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32888931035995483},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30320367217063904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17874330282211304},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10577216744422913},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08289849758148193},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.05434924364089966},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-319-50115-4_53","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-50115-4_53","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1527380270","https://openalex.org/W2003175218","https://openalex.org/W2022024011","https://openalex.org/W2031364417","https://openalex.org/W2048553957","https://openalex.org/W2071235178","https://openalex.org/W2096178249","https://openalex.org/W2120353831","https://openalex.org/W2128137193"],"related_works":["https://openalex.org/W2372596258","https://openalex.org/W2295602476","https://openalex.org/W2963669118","https://openalex.org/W2025612888","https://openalex.org/W2952728690","https://openalex.org/W4300197462","https://openalex.org/W86391281","https://openalex.org/W4313043940","https://openalex.org/W2509658230","https://openalex.org/W4312614647"],"abstract_inverted_index":null,"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}
