{"id":"https://openalex.org/W4387455724","doi":"https://doi.org/10.1007/978-981-99-6486-4_46","title":"Design of a Three-Finger Underactuated Robotic Gripper Based on a Flexible Differential Mechanism","display_name":"Design of a Three-Finger Underactuated Robotic Gripper Based on a Flexible Differential Mechanism","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387455724","doi":"https://doi.org/10.1007/978-981-99-6486-4_46"},"language":"en","primary_location":{"id":"doi:10.1007/978-981-99-6486-4_46","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-99-6486-4_46","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","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/A5100681992","display_name":"Xiantao Sun","orcid":"https://orcid.org/0000-0002-1941-3089"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiantao Sun","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010241836","display_name":"Changsheng Gan","orcid":"https://orcid.org/0000-0002-4768-744X"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Gan","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462267","display_name":"Wenjie Chen","orcid":"https://orcid.org/0000-0003-0556-7391"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenjie Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Weihai Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101792590","display_name":"Yuanyuan Liu","orcid":"https://orcid.org/0000-0003-0131-2519"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Liu","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026365889","https://openalex.org/A5100462267"],"corresponding_institution_ids":["https://openalex.org/I143868143","https://openalex.org/I82880672"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"546","last_page":"557"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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/grippers","display_name":"Grippers","score":0.8290384411811829},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7449826002120972},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7155565619468689},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6847422122955322},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6789469718933105},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.6369829177856445},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.46929270029067993},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4397718012332916},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4148048758506775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3265402615070343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32533276081085205},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2817884087562561},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18831026554107666}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8290384411811829},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7449826002120972},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7155565619468689},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6847422122955322},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6789469718933105},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.6369829177856445},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.46929270029067993},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4397718012332916},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4148048758506775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3265402615070343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32533276081085205},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2817884087562561},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18831026554107666},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-981-99-6486-4_46","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-99-6486-4_46","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","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":22,"referenced_works":["https://openalex.org/W1974706266","https://openalex.org/W1997047708","https://openalex.org/W1998664098","https://openalex.org/W2008796702","https://openalex.org/W2033246370","https://openalex.org/W2047318215","https://openalex.org/W2048058874","https://openalex.org/W2063149136","https://openalex.org/W2066878366","https://openalex.org/W2120529242","https://openalex.org/W2162142021","https://openalex.org/W2164575107","https://openalex.org/W2200001600","https://openalex.org/W2492233418","https://openalex.org/W2513537822","https://openalex.org/W2753366428","https://openalex.org/W2792901809","https://openalex.org/W2889998688","https://openalex.org/W3003215172","https://openalex.org/W3112481608","https://openalex.org/W3164233963","https://openalex.org/W4316877031"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W3035867307","https://openalex.org/W2907262613","https://openalex.org/W143055317","https://openalex.org/W1989428111","https://openalex.org/W4289868286","https://openalex.org/W4386517157","https://openalex.org/W2000779195","https://openalex.org/W4210853116"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}