{"id":"https://openalex.org/W2752818262","doi":"https://doi.org/10.1017/s0263574717000340","title":"Design and analysis of an origami-based three-finger manipulator","display_name":"Design and analysis of an origami-based three-finger manipulator","publication_year":2017,"publication_date":"2017-09-07","ids":{"openalex":"https://openalex.org/W2752818262","doi":"https://doi.org/10.1017/s0263574717000340","mag":"2752818262"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574717000340","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574717000340","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/EE67BBCEB45E64C292E287A7F931CA59/S0263574717000340a.pdf/div-class-title-design-and-analysis-of-an-origami-based-three-finger-manipulator-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/EE67BBCEB45E64C292E287A7F931CA59/S0263574717000340a.pdf/div-class-title-design-and-analysis-of-an-origami-based-three-finger-manipulator-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018037307","display_name":"Dong\u2010Hwa Jeong","orcid":"https://orcid.org/0000-0003-4896-9681"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donghwa Jeong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 44106 Ohio, USA. E-mail:","Case Western Reserve University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 44106 Ohio, USA. E-mail:","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Case Western Reserve University","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028822675","display_name":"Kiju Lee","orcid":"https://orcid.org/0000-0002-8526-9142"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kiju Lee","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 44106 Ohio, USA. E-mail:","Mechanical and Aerospace Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 44106 Ohio, USA. E-mail:","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5028822675"],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":4.1457,"has_fulltext":true,"cited_by_count":109,"citation_normalized_percentile":{"value":0.9413832,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"36","issue":"2","first_page":"261","last_page":"274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.998199999332428,"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":0.9902999997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.7690118551254272},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6074416637420654},{"id":"https://openalex.org/keywords/tower","display_name":"Tower","score":0.5829963088035583},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5539636611938477},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.52662593126297},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5061292052268982},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5020349025726318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49735406041145325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48397302627563477},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.47434818744659424},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.41634953022003174},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41634607315063477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37959152460098267},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3773609399795532},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32502490282058716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2651774287223816},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.173850417137146}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.7690118551254272},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6074416637420654},{"id":"https://openalex.org/C2777831296","wikidata":"https://www.wikidata.org/wiki/Q12518","display_name":"Tower","level":2,"score":0.5829963088035583},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5539636611938477},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.52662593126297},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5061292052268982},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5020349025726318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49735406041145325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48397302627563477},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.47434818744659424},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.41634953022003174},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41634607315063477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37959152460098267},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3773609399795532},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32502490282058716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2651774287223816},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.173850417137146},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574717000340","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574717000340","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/EE67BBCEB45E64C292E287A7F931CA59/S0263574717000340a.pdf/div-class-title-design-and-analysis-of-an-origami-based-three-finger-manipulator-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574717000340","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574717000340","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/EE67BBCEB45E64C292E287A7F931CA59/S0263574717000340a.pdf/div-class-title-design-and-analysis-of-an-origami-based-three-finger-manipulator-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2752818262.pdf","grobid_xml":"https://content.openalex.org/works/W2752818262.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W127502942","https://openalex.org/W1966141623","https://openalex.org/W1980587781","https://openalex.org/W1981275554","https://openalex.org/W2023533942","https://openalex.org/W2027192530","https://openalex.org/W2029024636","https://openalex.org/W2036723211","https://openalex.org/W2060137931","https://openalex.org/W2060827890","https://openalex.org/W2063797945","https://openalex.org/W2107165247","https://openalex.org/W2111400888","https://openalex.org/W2120605830","https://openalex.org/W2130799924","https://openalex.org/W2132634958","https://openalex.org/W2149165496","https://openalex.org/W2168069209","https://openalex.org/W2168333982","https://openalex.org/W2334638630","https://openalex.org/W2479166258","https://openalex.org/W3129014048","https://openalex.org/W4237816114","https://openalex.org/W6614574201","https://openalex.org/W6657291004","https://openalex.org/W6666821246"],"related_works":["https://openalex.org/W2348363276","https://openalex.org/W4307578144","https://openalex.org/W2609654726","https://openalex.org/W3013044599","https://openalex.org/W2348489906","https://openalex.org/W2071272545","https://openalex.org/W2149672192","https://openalex.org/W2537875094","https://openalex.org/W2019724477","https://openalex.org/W2660998314"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2,117],"describes":[3],"a":[4,44,63,69,75,111,116,120,143],"new":[5,148],"robotic":[6,39],"manipulator":[7,150],"with":[8,52,104],"three":[9],"fingers":[10,158],"based":[11],"on":[12],"an":[13,113,140],"origami":[14,34,154],"twisted":[15,46],"tower":[16,66],"design.":[17],"The":[18,38,78],"design":[19,35],"specifications,":[20],"kinematic":[21],"description,":[22],"and":[23,28,67,86,108,119,125,131,146,170],"results":[24],"from":[25],"the":[26,32,97,126,147,153,157,160,165],"stiffness":[27],"durability":[29],"tests":[30],"for":[31,133,177],"selected":[33,124],"are":[36],"presented.":[37],"arm":[40],"is":[41,60],"made":[42,61],"of":[43,62,96,128,180],"10-layer":[45],"tower,":[47],"actuated":[48],"by":[49,55],"four":[50],"cables":[51],"pulleys":[53],"driven":[54],"servo":[56,76],"motors.":[57],"Each":[58],"finger":[59],"smaller":[64],"11-layer":[65],"uses":[68],"single":[70],"cable":[71],"directly":[72],"attached":[73],"to":[74,164],"motor.":[77],"current":[79],"hardware":[80],"setup":[81],"supports":[82],"vision-based":[83],"autonomous":[84],"control":[85,89],"internet-based":[87],"remote":[88],"in":[90,156],"real":[91],"time.":[92],"For":[93],"preliminary":[94],"evaluation":[95],"robot's":[98],"object":[99,135,166],"manipulation":[100,179],"capabilities,":[101],"arbitrary":[102],"objects":[103],"varying":[105],"weights,":[106],"sizes,":[107],"shapes":[109],"(i.e.,":[110],"shuttlecock,":[112],"egg":[114],"shell,":[115],"cub,":[118],"cubic":[121],"block)":[122],"were":[123],"rate":[127],"successful":[129],"grasping":[130],"lifting":[132],"each":[134],"was":[136],"measured.":[137],"In":[138],"addition,":[139],"experiment":[141],"comparing":[142],"rigid":[144],"gripper":[145],"origami-based":[149],"revealed":[151],"that":[152],"structure":[155],"absorbs":[159],"excessive":[161],"force":[162,168],"applied":[163],"through":[167],"distribution":[169],"structural":[171],"deformation,":[172],"demonstrating":[173],"its":[174],"potential":[175],"applications":[176],"effective":[178],"fragile":[181],"objects.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}