{"id":"https://openalex.org/W4394994442","doi":"https://doi.org/10.1109/access.2024.3392258","title":"Optimizing Motion Parameters in Soft Robotic Hands Using Bayesian Optimization: Enhancing Cycle Time, Addressing Vibration, and Repeatability","display_name":"Optimizing Motion Parameters in Soft Robotic Hands Using Bayesian Optimization: Enhancing Cycle Time, Addressing Vibration, and Repeatability","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4394994442","doi":"https://doi.org/10.1109/access.2024.3392258"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3392258","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3392258","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10506489.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":null,"license_id":null,"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/ielx7/6287639/6514899/10506489.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007478938","display_name":"Toshihiro Nishimura","orcid":"https://orcid.org/0000-0003-2858-6368"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshihiro Nishimura","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2858-6368","affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085389910","display_name":"Tatsuki Isogai","orcid":"https://orcid.org/0009-0002-0691-3460"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuki Isogai","raw_affiliation_strings":["Graduated School of Natural Science and Technology, Kanazawa University, Kakuma-Machi, Kanazawa, Japan","Graduated school of Natural science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduated School of Natural Science and Technology, Kanazawa University, Kakuma-Machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]},{"raw_affiliation_string":"Graduated school of Natural science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6862-9719","affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuji","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1573-1928","affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061532363","display_name":"Tetsuyou Watanabe","orcid":"https://orcid.org/0000-0003-2549-1435"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuyou Watanabe","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2549-1435","affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kakuma-Machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I10091056"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.1516,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40270304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"58196","last_page":"58207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9933000206947327,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.8034619092941284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6546701192855835},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6449624300003052},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5361170172691345},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.518812358379364},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4213683605194092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35666197538375854},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.332938551902771},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2623884677886963},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11693704128265381}],"concepts":[{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.8034619092941284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6546701192855835},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6449624300003052},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5361170172691345},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.518812358379364},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4213683605194092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35666197538375854},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.332938551902771},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2623884677886963},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11693704128265381},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2024.3392258","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3392258","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10506489.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9991e380bdcc4347b038f4df474269aa","is_oa":true,"landing_page_url":"https://doaj.org/article/9991e380bdcc4347b038f4df474269aa","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 12, Pp 58196-58207 (2024)","raw_type":"article"},{"id":"pmh:oai:irdb.nii.ac.jp:01288:0006597485","is_oa":false,"landing_page_url":"https://kanazawa-u.repo.nii.ac.jp/records/2002158","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3392258","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3392258","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10506489.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G5616636304","display_name":"Multi-DOF soft robot hand with various grasping modes through underactuation","funder_award_id":"22K14220","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8643161050","display_name":null,"funder_award_id":"JP22K14220","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394994442.pdf","grobid_xml":"https://content.openalex.org/works/W4394994442.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1900860620","https://openalex.org/W2014888804","https://openalex.org/W2038929402","https://openalex.org/W2073838425","https://openalex.org/W2125827653","https://openalex.org/W2152195021","https://openalex.org/W2336212902","https://openalex.org/W2561570473","https://openalex.org/W2564666437","https://openalex.org/W2567812607","https://openalex.org/W2576246534","https://openalex.org/W2605701897","https://openalex.org/W2619971797","https://openalex.org/W2755856537","https://openalex.org/W2774019839","https://openalex.org/W2795294836","https://openalex.org/W2892108588","https://openalex.org/W2908280493","https://openalex.org/W2963481418","https://openalex.org/W2998553334","https://openalex.org/W3021790782","https://openalex.org/W3035992145","https://openalex.org/W3048927104","https://openalex.org/W3154190758","https://openalex.org/W3163905986","https://openalex.org/W3200912775","https://openalex.org/W4211116959","https://openalex.org/W4226301680","https://openalex.org/W4289761856","https://openalex.org/W4293065182","https://openalex.org/W4306804960","https://openalex.org/W4309865434","https://openalex.org/W4313898357","https://openalex.org/W4319300232","https://openalex.org/W4367297984","https://openalex.org/W6753146606","https://openalex.org/W6803131058","https://openalex.org/W7075680496"],"related_works":["https://openalex.org/W3106461837","https://openalex.org/W4283700523","https://openalex.org/W3168182983","https://openalex.org/W4387079005","https://openalex.org/W4321472004","https://openalex.org/W4221166418","https://openalex.org/W4236696095","https://openalex.org/W3143779693","https://openalex.org/W2968265130","https://openalex.org/W4382203014"],"abstract_inverted_index":{"This":[0],"study":[1,130],"proposes":[2,131],"a":[3,9,13,69,82,123,132,141,153,166],"novel":[4],"motion":[5,55,80],"optimization":[6,111,161,170,193,204,216,225],"method":[7,70,133,162,191],"for":[8,17,92,134,144],"manipulator":[10,31],"equipped":[11],"with":[12,52,156,168],"soft":[14,24,106],"robotic":[15,25,47,59,107],"hand":[16,26,108],"object":[18,93],"transportation.":[19],"The":[20,30,46,84,110,159,189],"flexibility":[21],"of":[22,81,100],"the":[23,35,43,53,58,79,89,98,136,148,173,202,222],"induces":[27],"large":[28],"vibrations.":[29],"must":[32],"pause":[33],"until":[34],"vibration":[36,101],"converges,":[37],"leading":[38],"to":[39,77,87,198],"an":[40,115],"increase":[41],"in":[42,57,105,196],"cycle":[44,90,137],"time.":[45],"system":[48],"also":[49],"has":[50],"issue":[51],"low":[54,103],"repeatability":[56,104],"hand,":[60],"even":[61],"under":[62],"identical":[63],"operational":[64],"conditions.":[65],"In":[66],"this":[67,129],"study,":[68],"based":[71,146],"on":[72,147],"Bayesian":[73,176,224],"algorithms":[74],"is":[75,86,112,140,163],"developed":[76],"optimize":[78],"manipulator.":[83],"objective":[85],"minimize":[88],"time":[91],"transportation":[94],"tasks,":[95],"while":[96],"considering":[97],"challenges":[99],"and":[102,125,185],"systems.":[109],"performed":[113],"through":[114,165],"exploratory":[116],"search":[117,187],"using":[118,152,201,221],"actual":[119],"experiments.":[120],"To":[121],"achieve":[122],"low-cost":[124],"versatile":[126],"measurement":[127,149],"system,":[128],"deriving":[135],"time,":[138],"which":[139],"key":[142],"metric":[143],"optimization,":[145,177,180],"results":[150,194,217],"obtained":[151,200,220],"web":[154],"camera":[155],"standard":[157],"specifications.":[158],"proposed":[160,190],"evaluated":[164],"comparison":[167],"existing":[169],"methods,":[171],"including":[172],"grid-search-based,":[174],"conventional":[175,223],"particle":[178],"swarm":[179],"S.":[181],"Lin\u2019s":[182],"heuristic":[183],"algorithm,":[184],"sparrow":[186],"algorithm.":[188],"achieves":[192],"comparable":[195],"accuracy":[197],"those":[199,219],"grid-search-based":[203],"method,":[205],"whereas":[206],"requires":[207],"95%":[208],"fewer":[209],"searches.":[210],"Furthermore,":[211],"it":[212],"provides":[213],"more":[214],"stable":[215],"than":[218],"method.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}