{"id":"https://openalex.org/W2029979841","doi":"https://doi.org/10.1007/s10514-009-9144-9","title":"Contact sensing and grasping performance of compliant hands","display_name":"Contact sensing and grasping performance of compliant hands","publication_year":2009,"publication_date":"2009-08-25","ids":{"openalex":"https://openalex.org/W2029979841","doi":"https://doi.org/10.1007/s10514-009-9144-9","mag":"2029979841"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-009-9144-9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9144-9","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://nrs.harvard.edu/urn-3:HUL.InstRepos:22085976","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004284487","display_name":"Aaron M. Dollar","orcid":"https://orcid.org/0000-0002-2409-4668"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aaron M. Dollar","raw_affiliation_strings":["Yale School of Engineering and Applied Science, Yale University, New Haven, CT, 06510, USA","Yale School of Engineering and Applied Science, Yale University, New Haven, USA 06510#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale School of Engineering and Applied Science, Yale University, New Haven, CT, 06510, USA","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"Yale School of Engineering and Applied Science, Yale University, New Haven, USA 06510#TAB#","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015136815","display_name":"Leif P. Jentoft","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leif P. Jentoft","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA","Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138#TAB#","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108190659","display_name":"Jason Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason H. Gao","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA","Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138#TAB#","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert D. Howe","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA","Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138#TAB#","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5004284487"],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":null,"fwci":11.4116,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.97780601,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"28","issue":"1","first_page":"65","last_page":"75"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9976000189781189,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9861000180244446,"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/computer-science","display_name":"Computer science","score":0.8591739535331726},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8240745067596436},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5803887248039246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.506215512752533},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4767204821109772},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4764293134212494},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43254390358924866},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4320465624332428},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.42129719257354736},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.41810303926467896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35304519534111023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.25392839312553406},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13597774505615234},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08568724989891052}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8591739535331726},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8240745067596436},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5803887248039246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.506215512752533},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4767204821109772},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4764293134212494},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43254390358924866},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4320465624332428},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.42129719257354736},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.41810303926467896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35304519534111023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25392839312553406},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13597774505615234},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08568724989891052},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-009-9144-9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9144-9","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:dash.harvard.edu:1/22085976","is_oa":true,"landing_page_url":"http://nrs.harvard.edu/urn-3:HUL.InstRepos:22085976","pdf_url":null,"source":{"id":"https://openalex.org/S4306401540","display_name":"Digital Access to Scholarship at Harvard (DASH) (Harvard University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I136199984","host_organization_name":"Harvard University","host_organization_lineage":["https://openalex.org/I136199984"],"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":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dash.harvard.edu:1/22085976","is_oa":true,"landing_page_url":"http://nrs.harvard.edu/urn-3:HUL.InstRepos:22085976","pdf_url":null,"source":{"id":"https://openalex.org/S4306401540","display_name":"Digital Access to Scholarship at Harvard (DASH) (Harvard University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I136199984","host_organization_name":"Harvard University","host_organization_lineage":["https://openalex.org/I136199984"],"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":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W57628129","https://openalex.org/W164123909","https://openalex.org/W1520726269","https://openalex.org/W1945929888","https://openalex.org/W2014972957","https://openalex.org/W2022024011","https://openalex.org/W2027665490","https://openalex.org/W2041376653","https://openalex.org/W2041437888","https://openalex.org/W2046365304","https://openalex.org/W2062575955","https://openalex.org/W2075540032","https://openalex.org/W2084426162","https://openalex.org/W2096514536","https://openalex.org/W2100361537","https://openalex.org/W2103450459","https://openalex.org/W2129476164","https://openalex.org/W2134167019","https://openalex.org/W2137714474","https://openalex.org/W2145546522","https://openalex.org/W2159466156","https://openalex.org/W2168056848","https://openalex.org/W2898099082","https://openalex.org/W6756091111"],"related_works":["https://openalex.org/W3185423629","https://openalex.org/W3214506804","https://openalex.org/W4382053194","https://openalex.org/W1636820063","https://openalex.org/W2111366135","https://openalex.org/W2184391477","https://openalex.org/W51006959","https://openalex.org/W4286579638","https://openalex.org/W2526844985","https://openalex.org/W762317907"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
