{"id":"https://openalex.org/W4385993456","doi":"https://doi.org/10.1108/ir-07-2023-0161","title":"Design, modeling and kinematic analysis of a multi-configuration dexterous hand with integrated high-dimensional sensors","display_name":"Design, modeling and kinematic analysis of a multi-configuration dexterous hand with integrated high-dimensional sensors","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385993456","doi":"https://doi.org/10.1108/ir-07-2023-0161"},"language":"en","primary_location":{"id":"doi:10.1108/ir-07-2023-0161","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2023-0161","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5062793914","display_name":"Feng Shuang","orcid":"https://orcid.org/0000-0002-4733-4732"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Shuang","raw_affiliation_strings":["Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100895521","display_name":"Yang Du","orcid":"https://orcid.org/0009-0001-2799-2201"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Du","raw_affiliation_strings":["Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057147579","display_name":"Shaodong Li","orcid":"https://orcid.org/0000-0002-5034-8721"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaodong Li","raw_affiliation_strings":["Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043764123","display_name":"Mingqi Chen","orcid":"https://orcid.org/0000-0002-3650-293X"},"institutions":[{"id":"https://openalex.org/I150807315","display_name":"Guangxi University","ror":"https://ror.org/02c9qn167","country_code":"CN","type":"education","lineage":["https://openalex.org/I150807315"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingqi Chen","raw_affiliation_strings":["Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, Nanning, China","institution_ids":["https://openalex.org/I150807315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10882277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"50","issue":"6","first_page":"981","last_page":"992"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/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":0.9983999729156494,"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":0.8203462362289429},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7719250917434692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5707715749740601},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.49336186051368713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4364360272884369},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41429635882377625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32843518257141113},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3233957588672638}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8203462362289429},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7719250917434692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5707715749740601},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.49336186051368713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4364360272884369},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41429635882377625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32843518257141113},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3233957588672638},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-07-2023-0161","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2023-0161","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1592126976","https://openalex.org/W1975033238","https://openalex.org/W1982637952","https://openalex.org/W1984237968","https://openalex.org/W1999375810","https://openalex.org/W2004554130","https://openalex.org/W2028145273","https://openalex.org/W2049410986","https://openalex.org/W2061343052","https://openalex.org/W2061871196","https://openalex.org/W2121378538","https://openalex.org/W2127461607","https://openalex.org/W2144333659","https://openalex.org/W2159717066","https://openalex.org/W2164575107","https://openalex.org/W2169222114","https://openalex.org/W2282481780","https://openalex.org/W2556078315","https://openalex.org/W2751915788","https://openalex.org/W2902183259","https://openalex.org/W2902198827","https://openalex.org/W2914348649","https://openalex.org/W2943200793","https://openalex.org/W2967045666","https://openalex.org/W2986783566","https://openalex.org/W3208859462","https://openalex.org/W4206335491","https://openalex.org/W4206693075","https://openalex.org/W4283693873","https://openalex.org/W4285226930","https://openalex.org/W4312929748","https://openalex.org/W4380625844"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W2295071091","https://openalex.org/W2537091977","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586"],"abstract_inverted_index":{"Purpose":[0],"This":[1],"study":[2],"aims":[3],"to":[4,57,62,64],"introduce":[5],"a":[6,36,104],"multi-configuration,":[7],"three-finger":[8,32,211],"dexterous":[9,33,47,55,91,154,179,212,229],"hand":[10,34,56,92,135,155,180,194,213,230],"with":[11,35,214],"integrated":[12,79,217],"high-dimensional":[13,218],"sensors":[14,77,219],"and":[15,23,75,85,123,166,199,206,216,234],"provides":[16],"an":[17],"analysis":[18,130],"of":[19,30,89,121,128,152,187,191],"its":[20],"design,":[21],"modeling":[22],"kinematics.":[24],"Design/methodology/approach":[25],"A":[26,209],"mechanical":[27],"design":[28,52],"scheme":[29],"the":[31,43,54,90,96,133,147,153,178,188,192,226],"reconfigurable":[37,50],"palm":[38,51],"is":[39,112,156,220],"proposed":[40,134,148],"based":[41,145,170],"on":[42,46,146,171],"existing":[44],"research":[45],"hands.":[48],"The":[49,83,110,126,150,174],"enables":[53],"achieve":[58],"four":[59],"grasping":[60,66,165,183,197],"modes":[61],"adapt":[63],"multiple":[65],"tasks.":[67],"To":[68],"further":[69],"enhance":[70],"perception,":[71],"two":[72],"six-axis":[73],"force":[74],"torque":[76],"are":[78,93,143],"into":[80],"each":[81],"finger.":[82],"forward":[84],"inverse":[86],"kinematics":[87,100,129],"equations":[88],"derived":[94],"using":[95,114],"D-H":[97],"method":[98],"for":[99,107],"modeling,":[101],"thus":[102],"providing":[103],"theoretical":[105],"model":[106],"index":[108],"analysis.":[109,237],"performance":[111,151,236],"evaluated":[113],"three":[115,140],"widely":[116],"applied":[117],"indicators:":[118],"workspace,":[119],"interactivity":[120],"fingers":[122],"manipulability.":[124],"Findings":[125],"results":[127,175],"show":[131,176],"that":[132,177],"has":[136,181],"excellent":[137],"dexterity.":[138],"Additionally,":[139],"different":[141],"experiments":[142,169,233],"conducted":[144],"hand.":[149],"also":[157],"verified":[158],"by":[159],"fingertip":[160],"force,":[161],"motion":[162],"accuracy":[163],"test,":[164],"in-hand":[167,201],"manipulation":[168],"Feix":[172],"taxonomy.":[173],"good":[182],"ability,":[184],"reproducing":[185],"82%":[186],"natural":[189],"movement":[190],"human":[193],"in":[195,231],"daily":[196],"activities":[198],"achieving":[200],"manipulations":[202],"such":[203],"as":[204],"translation":[205],"rotation.":[207],"Originality/value":[208],"novel":[210],"multi-configuration":[215],"proposed.":[221],"It":[222],"performs":[223],"better":[224],"than":[225],"previously":[227],"designed":[228],"actual":[232],"kinematic":[235]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
