{"id":"https://openalex.org/W2995243182","doi":"https://doi.org/10.1017/s0263574719001723","title":"Kinematic Synthesis and Design of the Robust Closed Loop Articulated Minimally actuated (CLAM) Hand","display_name":"Kinematic Synthesis and Design of the Robust Closed Loop Articulated Minimally actuated (CLAM) Hand","publication_year":2019,"publication_date":"2019-12-10","ids":{"openalex":"https://openalex.org/W2995243182","doi":"https://doi.org/10.1017/s0263574719001723","mag":"2995243182"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001723","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001723","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063599571","display_name":"Nina Robson","orcid":null},"institutions":[{"id":"https://openalex.org/I142934699","display_name":"California State University, Fullerton","ror":"https://ror.org/02avqqw26","country_code":"US","type":"education","lineage":["https://openalex.org/I142934699"]},{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]},{"id":"https://openalex.org/I4210140791","display_name":"Irvine University","ror":"https://ror.org/04ysmca02","country_code":"US","type":"education","lineage":["https://openalex.org/I4210140791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nina Robson","raw_affiliation_strings":["Mechanical Engineering, California State University Fullerton, Fullerton, CA, USA","Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, California State University Fullerton, Fullerton, CA, USA","institution_ids":["https://openalex.org/I142934699"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA E-mail:","institution_ids":["https://openalex.org/I4210140791","https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101956667","display_name":"Shramana Ghosh","orcid":"https://orcid.org/0000-0003-0876-8674"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]},{"id":"https://openalex.org/I4210140791","display_name":"Irvine University","ror":"https://ror.org/04ysmca02","country_code":"US","type":"education","lineage":["https://openalex.org/I4210140791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shramana Ghosh","raw_affiliation_strings":["Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA E-mail:","institution_ids":["https://openalex.org/I4210140791","https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018044324","display_name":"Gim Song Soh","orcid":"https://orcid.org/0000-0002-0042-5151"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Gim Song Soh","raw_affiliation_strings":["Engineering Product Development, Singapore University of Technology and Design"],"raw_orcid":"https://orcid.org/0000-0002-0042-5151","affiliations":[{"raw_affiliation_string":"Engineering Product Development, Singapore University of Technology and Design","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018044324"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":0.5057,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.67442465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"38","issue":"11","first_page":"1921","last_page":"1939"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9958000183105469,"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":0.7567311525344849},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7189431190490723},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6509376168251038},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5763452053070068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5332816243171692},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5308467149734497},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.47857192158699036},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4737611413002014},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4536435604095459},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.448807954788208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4289170205593109},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.4162417948246002},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37257274985313416},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36804696917533875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3645312190055847},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35607463121414185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.203081876039505},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14999547600746155}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7567311525344849},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7189431190490723},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6509376168251038},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5763452053070068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5332816243171692},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5308467149734497},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.47857192158699036},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4737611413002014},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4536435604095459},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.448807954788208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4289170205593109},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.4162417948246002},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37257274985313416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36804696917533875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3645312190055847},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35607463121414185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.203081876039505},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14999547600746155},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems 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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719001723","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001723","pdf_url":null,"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":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W99380137","https://openalex.org/W774034202","https://openalex.org/W1451497227","https://openalex.org/W1542801064","https://openalex.org/W1553776054","https://openalex.org/W1566405224","https://openalex.org/W1589353019","https://openalex.org/W1594182762","https://openalex.org/W1601350759","https://openalex.org/W1881109849","https://openalex.org/W1925324831","https://openalex.org/W1971413737","https://openalex.org/W1980602022","https://openalex.org/W1983937436","https://openalex.org/W2002677178","https://openalex.org/W2007055521","https://openalex.org/W2008909198","https://openalex.org/W2012033048","https://openalex.org/W2016182691","https://openalex.org/W2017444601","https://openalex.org/W2031367600","https://openalex.org/W2041376653","https://openalex.org/W2045918543","https://openalex.org/W2048058874","https://openalex.org/W2048517616","https://openalex.org/W2060467095","https://openalex.org/W2064878003","https://openalex.org/W2075461447","https://openalex.org/W2076188106","https://openalex.org/W2083188966","https://openalex.org/W2085545845","https://openalex.org/W2094903231","https://openalex.org/W2112787507","https://openalex.org/W2113797465","https://openalex.org/W2122056155","https://openalex.org/W2128935471","https://openalex.org/W2130007788","https://openalex.org/W2134167019","https://openalex.org/W2140372825","https://openalex.org/W2143043303","https://openalex.org/W2149761270","https://openalex.org/W2154006563","https://openalex.org/W2155113159","https://openalex.org/W2155337985","https://openalex.org/W2158726602","https://openalex.org/W2161636262","https://openalex.org/W2163296013","https://openalex.org/W2164870294","https://openalex.org/W2303611739","https://openalex.org/W2325438968","https://openalex.org/W2516994551","https://openalex.org/W2539881804","https://openalex.org/W2561826173","https://openalex.org/W2585344004","https://openalex.org/W2610287143","https://openalex.org/W2623660146","https://openalex.org/W2799453181","https://openalex.org/W3113461067","https://openalex.org/W3139610437","https://openalex.org/W3142707146","https://openalex.org/W3147567656","https://openalex.org/W3150997492","https://openalex.org/W4210660029","https://openalex.org/W4211245182","https://openalex.org/W4244791762","https://openalex.org/W4249626862","https://openalex.org/W6628459890","https://openalex.org/W6653594664"],"related_works":["https://openalex.org/W2607366672","https://openalex.org/W2382811281","https://openalex.org/W2186725032","https://openalex.org/W2002117499","https://openalex.org/W2354642913","https://openalex.org/W3079968139","https://openalex.org/W2118972194","https://openalex.org/W4324118729","https://openalex.org/W4300716536","https://openalex.org/W3205784728"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,41,92,141],"paper":[2,93],"presents":[3],"a":[4,28,64,86,154,165],"comprehensive":[5],"design":[6,102],"process":[7],"for":[8,113,131,138,160],"the":[9,12,23,77,80,115,150,161],"development":[10],"of":[11,22,32,67,70,124,144,164,167],"minimally":[13],"actuated":[14],"Closed":[15],"Loop":[16],"Articulated":[17],"Mechanical":[18],"(CLAM)":[19],"hand.":[20],"Each":[21],"fingers":[24,42,145],"is":[25,44],"designed":[26],"as":[27],"planar":[29],"one":[30],"degree":[31],"freedom":[33],"eight-bar":[34],"linkage":[35],"with":[36,53,63,110,169],"an":[37],"anthropomorphic":[38,82],"backbone":[39],"chain.":[40],"movement":[43],"based":[45,103],"on":[46,98,104],"experimentally":[47],"obtained":[48],"physiological":[49,108],"precision":[50,139,162],"grasping":[51,83,133,163],"task,":[52],"incorporated":[54],"second-order":[55,111],"task":[56,109],"specifications,":[57],"related":[58],"to":[59],"maintaining":[60,114],"fingertip\u2013body":[61],"contact":[62],"minimum":[65],"number":[66,143],"fingers.":[68],"Instead":[69],"actuating":[71],"individual":[72],"joints":[73],"in":[74,89,153],"each":[75,90],"finger,":[76],"mechanism":[78],"generates":[79],"desired":[81],"trajectory":[84],"using":[85],"single":[87],"actuator":[88],"finger.":[91],"offers":[94],"not":[95],"only":[96],"details":[97],"multi-loop":[99],"articulated":[100],"hands":[101,125],"anthropometric":[105],"data":[106],"and":[107,146,157,172],"effects":[112],"object\u2013fingertip":[116],"contact,":[117],"but":[118],"also":[119],"shows":[120],"how":[121],"this":[122],"class":[123],"that":[126],"have":[127],"been":[128],"considered":[129],"mostly":[130],"adaptive":[132],"can":[134,148],"be":[135],"successfully":[136],"utilized":[137],"grasping.":[140],"minimal":[142],"actuators":[147],"simplify":[149],"control,":[151],"resulting":[152],"robust,":[155],"lightweight,":[156],"cost-effective":[158],"solution":[159],"variety":[166],"objects":[168],"different":[170],"shapes":[171],"geometries.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}