{"id":"https://openalex.org/W2039805061","doi":"https://doi.org/10.1109/aim.2013.6584348","title":"A model-based strategy for mapping human grasps to robotic hands using synergies","display_name":"A model-based strategy for mapping human grasps to robotic hands using synergies","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2039805061","doi":"https://doi.org/10.1109/aim.2013.6584348","mag":"2039805061"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2013.6584348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5065563904","display_name":"Fanny Ficuciello","orcid":"https://orcid.org/0000-0001-9214-9977"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Fanny Ficuciello","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica e Tecnologie dellInformazione, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","Dipt. di Ing. Elettr. e Tecnol. dell'Inf., Univ. degli Studi di Napoli Federico II, Naples, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica e Tecnologie dellInformazione, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Dipt. di Ing. Elettr. e Tecnol. dell'Inf., Univ. degli Studi di Napoli Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]},{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Palli","raw_affiliation_strings":["Dipartimento di Ingegneria dellEnergia Elettrica e dellInformazione Guglielmo Marconi, Alma Mater Studiorum-Universit\u00e0 di Bologna, Bologna, Italy","Dipt. di Ing. dell'Energia Elettr. e dell'Inf. \u201cGuglielmo Marconi\u201d, Alma Mater Studiorum Univ. di Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dellEnergia Elettrica e dellInformazione Guglielmo Marconi, Alma Mater Studiorum-Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Dipt. di Ing. dell'Energia Elettr. e dell'Inf. \u201cGuglielmo Marconi\u201d, Alma Mater Studiorum Univ. di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I4210098188"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082136401","display_name":"Claudio Melchiorri","orcid":"https://orcid.org/0000-0002-8475-6782"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]},{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Melchiorri","raw_affiliation_strings":["Dipartimento di Ingegneria dellEnergia Elettrica e dellInformazione Guglielmo Marconi, Alma Mater Studiorum-Universit\u00e0 di Bologna, Bologna, Italy","Dipt. di Ing. dell'Energia Elettr. e dell'Inf. \u201cGuglielmo Marconi\u201d, Alma Mater Studiorum Univ. di Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dellEnergia Elettrica e dellInformazione Guglielmo Marconi, Alma Mater Studiorum-Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Dipt. di Ing. dell'Energia Elettr. e dell'Inf. \u201cGuglielmo Marconi\u201d, Alma Mater Studiorum Univ. di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I4210098188"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090755079","display_name":"Bruno Siciliano","orcid":"https://orcid.org/0000-0002-1037-0588"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bruno Siciliano","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica e Tecnologie dellInformazione, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","Dipt. di Ing. Elettr. e Tecnol. dell'Inf., Univ. degli Studi di Napoli Federico II, Naples, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica e Tecnologie dellInformazione, Universit\u00e0 degli Studi di Napoli Federico II, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Dipt. di Ing. Elettr. e Tecnol. dell'Inf., Univ. degli Studi di Napoli Federico II, Naples, Italy","institution_ids":["https://openalex.org/I71267560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065563904"],"corresponding_institution_ids":["https://openalex.org/I71267560"],"apc_list":null,"apc_paid":null,"fwci":1.0099,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.8060314,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"27","issue":null,"first_page":"1737","last_page":"1742"},"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/T10982","display_name":"Motor Control and Adaptation","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7856118679046631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7074921131134033},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.702319324016571},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6949433088302612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.653077244758606},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6285704374313354},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6265087127685547},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.6219883561134338},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5711976885795593},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5041052103042603},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5006551742553711},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.4710029661655426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45258060097694397},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4111025631427765},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21249091625213623}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7856118679046631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7074921131134033},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.702319324016571},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6949433088302612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.653077244758606},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6285704374313354},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6265087127685547},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.6219883561134338},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5711976885795593},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5041052103042603},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5006551742553711},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.4710029661655426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45258060097694397},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4111025631427765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21249091625213623},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2013.6584348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/189899","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/189899","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W86645860","https://openalex.org/W145979361","https://openalex.org/W201257430","https://openalex.org/W1037275685","https://openalex.org/W1560270123","https://openalex.org/W2002433211","https://openalex.org/W2076215121","https://openalex.org/W2097107088","https://openalex.org/W2102038345","https://openalex.org/W2111455515","https://openalex.org/W2154006563","https://openalex.org/W2158422304","https://openalex.org/W2294741667","https://openalex.org/W2945943585","https://openalex.org/W4285719527","https://openalex.org/W6605942465","https://openalex.org/W6626854771","https://openalex.org/W6651039665","https://openalex.org/W6762733807"],"related_works":["https://openalex.org/W2088476797","https://openalex.org/W2102971868","https://openalex.org/W2625202073","https://openalex.org/W2744818472","https://openalex.org/W2168487931","https://openalex.org/W2292082415","https://openalex.org/W1253671258","https://openalex.org/W4312362134","https://openalex.org/W4283266117","https://openalex.org/W2355512144"],"abstract_inverted_index":{"The":[0,146,172],"aim":[1],"of":[2,11,25,52,82,103,123,174,195],"this":[3],"paper":[4],"is":[5,149],"to":[6,40,97,160],"derive":[7],"the":[8,17,53,67,79,85,99,104,113,121,129,132,143,154,167,181,184,189],"synergies":[9,133,176],"subspace":[10,134,148],"an":[12,57],"anthropomorphic":[13],"robotic":[14,42,105,116,130],"hand":[15,19,43,69,106,186],"using":[16,112,166],"human":[18,54,68,114,185],"as":[20,48],"a":[21,41,49,89,178],"master.":[22],"A":[23],"set":[24,81,122],"grasping":[26,33,124],"postures":[27],"performed":[28,192],"by":[29,157,193],"five":[30],"subjects":[31],"in":[32,188],"commonly":[34],"used":[35],"objects":[36,165],"has":[37,94,125,135],"been":[38,76,95,126,136],"mapped":[39,127],"assuming":[44],"its":[45,109],"own":[46],"kinematics":[47,92],"simplified":[50],"model":[51],"hand.":[55],"Using":[56],"RGB":[58],"camera":[59],"and":[60,72,115,177,197],"depth":[61],"sensor":[62],"for":[63,78],"3D":[64],"motion":[65],"capture,":[66],"palm":[70],"pose":[71],"fingertip":[73,87],"positions":[74,88],"have":[75],"measured":[77,86],"reference":[80],"grasping.":[83],"From":[84],"closed-loop":[90],"inverse":[91],"algorithm":[93],"applied":[96],"reproduce":[98],"joint":[100,144],"space":[101],"configuration":[102],"relying":[107],"on":[108,128,142,153,163,183],"kinematics,":[110],"scaled":[111],"fingers":[117],"length":[118],"ratio.":[119],"Once":[120],"hand,":[131],"computed":[137],"applying":[138],"principal":[139],"component":[140],"analysis":[141,173],"configurations.":[145],"obtained":[147],"tested":[150],"with":[151,180],"experiments":[152],"DEXMART":[155],"Hand":[156],"performing":[158],"reach":[159],"grasp":[161],"actions":[162],"selected":[164],"first":[168],"three":[169],"predominant":[170],"synergies.":[171],"these":[175],"comparison":[179],"results":[182],"available":[187],"literature":[190],"are":[191],"means":[194],"graphical":[196],"numerical":[198],"tools.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}