{"id":"https://openalex.org/W3153650147","doi":"https://doi.org/10.1109/access.2021.3073010","title":"Development of a Robotic Hand Using Bioinspired Optimization for Mechanical and Control Design: UnB-Hand","display_name":"Development of a Robotic Hand Using Bioinspired Optimization for Mechanical and Control Design: UnB-Hand","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3153650147","doi":"https://doi.org/10.1109/access.2021.3073010","mag":"3153650147"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3073010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3073010","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09403893.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09403893.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056134901","display_name":"Sergio A. Pertuz","orcid":"https://orcid.org/0000-0002-6311-3251"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Sergio A. Pertuz","raw_affiliation_strings":["Faculty of Technology, Postgraduate in Mechatronic Systems, University of Bras\u00edlia, Bras\u00edlia, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-6311-3251","affiliations":[{"raw_affiliation_string":"Faculty of Technology, Postgraduate in Mechatronic Systems, University of Bras\u00edlia, Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042189424","display_name":"Carlos H. Llanos","orcid":"https://orcid.org/0000-0002-0115-4461"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Carlos H. Llanos","raw_affiliation_strings":["Faculty of Technology, Postgraduate in Mechatronic Systems, University of Bras\u00edlia, Bras\u00edlia, Brazil"],"raw_orcid":"https://orcid.org/0000-0002-0115-4461","affiliations":[{"raw_affiliation_string":"Faculty of Technology, Postgraduate in Mechatronic Systems, University of Bras\u00edlia, Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050811383","display_name":"Daniel M. Mu\u00f1oz","orcid":"https://orcid.org/0000-0002-9219-6463"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel M. Munoz","raw_affiliation_strings":["Faculty of Gama, Electronics Undergraduate, University of Bras\u00edlia, Bras\u00edlia, Brazil","Faculty of Technology, Postgraduate in Mechatronic Systems, University of Bras\u00edlia, Bras\u00edlia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Gama, Electronics Undergraduate, University of Bras\u00edlia, Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Faculty of Technology, Postgraduate in Mechatronic Systems, University of Bras\u00edlia, Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056134901"],"corresponding_institution_ids":["https://openalex.org/I150729083"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.5265,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82003428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"61010","last_page":"61023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"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/computer-science","display_name":"Computer science","score":0.7221406102180481},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7017687559127808},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.6128150820732117},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5936055779457092},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4765906035900116},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4531340003013611},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41877469420433044},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.41072073578834534},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3506408929824829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34921276569366455},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.31587696075439453},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15500038862228394},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08916959166526794}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7221406102180481},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7017687559127808},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.6128150820732117},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5936055779457092},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4765906035900116},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4531340003013611},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41877469420433044},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.41072073578834534},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3506408929824829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34921276569366455},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.31587696075439453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15500038862228394},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08916959166526794},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2021.3073010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3073010","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09403893.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1b7f5e6b69e94653bb5b41d9180fbfb4","is_oa":true,"landing_page_url":"https://doaj.org/article/1b7f5e6b69e94653bb5b41d9180fbfb4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 61010-61023 (2021)","raw_type":"article"},{"id":"pmh:oai:repositorio.unb.br:10482/41565","is_oa":true,"landing_page_url":"https://repositorio.unb.br/handle/10482/41565","pdf_url":null,"source":{"id":"https://openalex.org/S4377196379","display_name":"RIUnB Institutional Repository (University of Bras\u00edlia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I150729083","host_organization_name":"Universidade de Bras\u00edlia","host_organization_lineage":["https://openalex.org/I150729083"],"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":null,"raw_type":"Artigo"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3073010","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3073010","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09403893.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4386501347","display_name":null,"funder_award_id":"88882.383336/2019-01","funder_id":"https://openalex.org/F4320321091","funder_display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior"},{"id":"https://openalex.org/G8262246763","display_name":null,"funder_award_id":"88882","funder_id":"https://openalex.org/F4320321091","funder_display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior"}],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3153650147.pdf","grobid_xml":"https://content.openalex.org/works/W3153650147.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W754321747","https://openalex.org/W971303027","https://openalex.org/W1500387900","https://openalex.org/W1595159159","https://openalex.org/W1604775020","https://openalex.org/W1963949857","https://openalex.org/W1967377907","https://openalex.org/W1971567289","https://openalex.org/W1977819772","https://openalex.org/W1978023077","https://openalex.org/W1984237968","https://openalex.org/W1997560983","https://openalex.org/W2017239762","https://openalex.org/W2034912460","https://openalex.org/W2036637075","https://openalex.org/W2038636021","https://openalex.org/W2047094503","https://openalex.org/W2048644448","https://openalex.org/W2057147889","https://openalex.org/W2075265453","https://openalex.org/W2102298227","https://openalex.org/W2104896093","https://openalex.org/W2130727139","https://openalex.org/W2142400030","https://openalex.org/W2144573888","https://openalex.org/W2146263478","https://openalex.org/W2162745921","https://openalex.org/W2296480550","https://openalex.org/W2304229193","https://openalex.org/W2380258564","https://openalex.org/W2501377275","https://openalex.org/W2533696162","https://openalex.org/W2558807622","https://openalex.org/W2562086321","https://openalex.org/W2565042291","https://openalex.org/W2570357259","https://openalex.org/W2571093095","https://openalex.org/W2588199845","https://openalex.org/W2626583880","https://openalex.org/W2741179917","https://openalex.org/W2883969372","https://openalex.org/W2900714153","https://openalex.org/W2903611874","https://openalex.org/W2910395141","https://openalex.org/W2911870995","https://openalex.org/W2943200793","https://openalex.org/W3021066508","https://openalex.org/W3026416497","https://openalex.org/W3112422759","https://openalex.org/W3128091691","https://openalex.org/W4252838624","https://openalex.org/W6664754542","https://openalex.org/W6681723696","https://openalex.org/W6683698691"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2066756988","https://openalex.org/W2148001919","https://openalex.org/W2785665096"],"abstract_inverted_index":{"For":[0],"the":[1,5,12,25,45,109,114,121,136,149,168,171],"last":[2],"four":[3],"decades,":[4],"development":[6],"of":[7,14,21,27,29,97,130,151,158],"robotic":[8,56,87],"hands":[9],"has":[10,90],"been":[11],"focus":[13],"several":[15,124],"works.":[16],"However,":[17],"a":[18,54,65,82,155],"small":[19],"part":[20],"those":[22],"approaches":[23],"consider":[24],"exploitation":[26],"parallelism":[28],"FPGA-based":[30],"(Field":[31],"Programmable":[32],"Gate":[33],"Arrays)":[34],"systems":[35],"or":[36],"discuss":[37],"how":[38],"using":[39],"bioinspired":[40,55,100],"optimization":[41],"algorithms":[42],"could":[43],"improve":[44],"mechanical":[46],"and":[47,61,76,93,113,119,140,160],"controller":[48,116],"components.":[49],"This":[50],"work":[51,132],"considers":[52],"developing":[53],"hand":[57,88],"that":[58],"achieves":[59],"motion":[60],"force":[62],"control":[63],"with":[64,78,135,144],"logic":[66],"hardware":[67],"architecture":[68],"implemented":[69],"in":[70,123,170],"FPGA":[71],"intended":[72],"to":[73],"be":[74],"replicated":[75],"executed":[77],"suitable":[79],"parallelism,":[80],"fitting":[81],"single":[83],"device.":[84],"The":[85,128,146,164],"developed":[86],"prototype":[89],"five":[91],"fingers":[92],"seven":[94],"DoF":[95],"(Degrees":[96],"Freedom).":[98],"Using":[99],"optimization,":[101],"such":[102],"as":[103],"PSO":[104],"(Particle":[105],"Swarm":[106],"Optimization),":[107],"both":[108],"rigid":[110],"finger":[111],"mechanism":[112],"impedance":[115],"were":[117],"optimized":[118],"incorporated":[120],"results":[122],"practical":[125],"grasping":[126,138,142],"experiments.":[127],"validation":[129],"this":[131,152],"is":[133],"done":[134],"Cutkosky":[137],"taxonomy":[139],"some":[141,161],"experiments":[143,169],"interference.":[145],"tests":[147],"proved":[148],"proficiency":[150],"works":[153],"for":[154],"wide":[156],"range":[157],"power":[159],"precision":[162],"grasp.":[163],"reader":[165],"can":[166],"see":[167],"attached":[172],"videos.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2021-04-26T00:00:00"}
