{"id":"https://openalex.org/W2805417526","doi":"https://doi.org/10.1080/01691864.2018.1451368","title":"Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions","display_name":"Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions","publication_year":2018,"publication_date":"2018-05-28","ids":{"openalex":"https://openalex.org/W2805417526","doi":"https://doi.org/10.1080/01691864.2018.1451368","mag":"2805417526"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2018.1451368","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2018.1451368","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5084115884","display_name":"Masahiro Fujita","orcid":"https://orcid.org/0000-0002-0642-5099"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Fujita","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109383758","display_name":"Hirone KOMATSU","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirone Komatsu","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029091541","display_name":"Eri TAKANE","orcid":"https://orcid.org/0000-0002-4009-5361"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eri Takane","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000445452","display_name":"Akito Nomura","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akito Nomura","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049680660","display_name":"Tomoya Ichimura","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoya Ichimura","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Konyo","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6826-9722","affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai-shi, Miyagi-ken, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5016736580"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":1.7315,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.83520727,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"32","issue":"11","first_page":"590","last_page":"604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/jamming","display_name":"Jamming","score":0.9494266510009766},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.810319185256958},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6539332270622253},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.6344835758209229},{"id":"https://openalex.org/keywords/natural-rubber","display_name":"Natural rubber","score":0.6017740964889526},{"id":"https://openalex.org/keywords/membrane","display_name":"Membrane","score":0.5589437484741211},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5143541097640991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4610643982887268},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.45099306106567383},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.334822416305542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3300474286079407},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31709638237953186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26272398233413696},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.2207854688167572},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13062044978141785},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.06596776843070984}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.9494266510009766},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.810319185256958},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6539332270622253},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6344835758209229},{"id":"https://openalex.org/C176933379","wikidata":"https://www.wikidata.org/wiki/Q131877","display_name":"Natural rubber","level":2,"score":0.6017740964889526},{"id":"https://openalex.org/C41625074","wikidata":"https://www.wikidata.org/wiki/Q176088","display_name":"Membrane","level":2,"score":0.5589437484741211},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5143541097640991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4610643982887268},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.45099306106567383},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.334822416305542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3300474286079407},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31709638237953186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26272398233413696},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.2207854688167572},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13062044978141785},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.06596776843070984},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2018.1451368","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2018.1451368","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G7681173408","display_name":null,"funder_award_id":"2015-PM07-18-01","funder_id":"https://openalex.org/F4320307285","funder_display_name":"Impact Fund"}],"funders":[{"id":"https://openalex.org/F4320307285","display_name":"Impact Fund","ror":"https://ror.org/00jb20j87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1978424264","https://openalex.org/W2007924815","https://openalex.org/W2022024011","https://openalex.org/W2029744358","https://openalex.org/W2036652726","https://openalex.org/W2080551943","https://openalex.org/W2082197056","https://openalex.org/W2096514536","https://openalex.org/W2111869100","https://openalex.org/W2130850127","https://openalex.org/W2144113061","https://openalex.org/W2151710851","https://openalex.org/W2165277714","https://openalex.org/W2290987466","https://openalex.org/W2419136601","https://openalex.org/W2544013339","https://openalex.org/W2545152965","https://openalex.org/W2561931395","https://openalex.org/W2572557839","https://openalex.org/W4241630471","https://openalex.org/W4255466541"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W1501306699","https://openalex.org/W4376605790","https://openalex.org/W4298095203","https://openalex.org/W1640559846"],"abstract_inverted_index":{"A":[0],"gripper":[1],"comprising":[2,91],"a":[3,88,105,138],"jamming":[4,89,117,142,153],"membrane":[5,90,118,143,154],"was":[6],"developed":[7,87,137],"with":[8,46],"the":[9,74,78,83,92,110,141,148,151],"capability":[10],"of":[11,34,82,102,140,150],"grasping":[12],"collapsible,":[13,120],"soft,":[14,121],"and":[15,76,98,104,112,136],"fragile":[16,38,123],"objects":[17,53,124],"without":[18,54,129],"applying":[19,130],"heavy":[20],"pressure.":[21,56,133],"In":[22],"disaster":[23],"sites,":[24],"it":[25],"is":[26,65],"necessary":[27],"for":[28],"robots":[29],"to":[30,68,125],"grab":[31],"various":[32],"types":[33],"objects,":[35],"such":[36],"as":[37],"objects.":[39],"Deformable":[40],"grippers":[41],"that":[42],"contain":[43],"bags":[44],"filled":[45],"powder":[47,58,106],"cannot":[48],"handle":[49],"collapsible":[50],"or":[51,122],"soft":[52],"excessive":[55],"Changing":[57],"density":[59],"relatively":[60],"by":[61],"changing":[62],"inner":[63,80,99,113],"volume":[64,81],"one":[66],"approach":[67],"overcome":[69],"this":[70],"problem.":[71],"By":[72],"expanding":[73],"concept":[75],"simplifying":[77],"variable":[79],"gripping":[84],"mechanism,":[85],"we":[86],"following":[93],"three":[94],"layers:":[95],"outer":[96,111],"layer":[97,100,107],"made":[101],"rubber":[103,114],"in":[108],"between":[109],"layer.":[115],"This":[116],"allows":[119],"be":[126],"held":[127],"securely":[128],"too":[131],"much":[132],"We":[134],"designed":[135],"prototype":[139],"gripper.":[144],"Our":[145],"experiments":[146],"confirmed":[147],"validity":[149],"proposed":[152],"mechanism.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
