{"id":"https://openalex.org/W2981293868","doi":"https://doi.org/10.1109/aim.2019.8868820","title":"Robot hand design with linkage and push-pull cable transmission","display_name":"Robot hand design with linkage and push-pull cable transmission","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2981293868","doi":"https://doi.org/10.1109/aim.2019.8868820","mag":"2981293868"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5044992625","display_name":"Billier Alexis","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alexis Billier","raw_affiliation_strings":["Department of iCub, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of iCub, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003306976","display_name":"Giovanni Stellin","orcid":"https://orcid.org/0000-0002-1903-2542"},"institutions":[{"id":"https://openalex.org/I4210114368","display_name":"Danieli (Italy)","ror":"https://ror.org/020pyx735","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210114368"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Stellin","raw_affiliation_strings":["Danieli Telerobot Labs, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Danieli Telerobot Labs, Genova, Italy","institution_ids":["https://openalex.org/I4210114368"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["Department of iCub, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of iCub, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072707307","display_name":"Alberto Parmiggiani","orcid":"https://orcid.org/0000-0003-1677-9381"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Parmiggiani","raw_affiliation_strings":["Department of iCub, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of iCub, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044992625"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1321931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":null,"first_page":"1281","last_page":"1286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9972000122070312,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9940000176429749,"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/thumb","display_name":"Thumb","score":0.694911003112793},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.6675283312797546},{"id":"https://openalex.org/keywords/index-finger","display_name":"Index finger","score":0.6648867130279541},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5988266468048096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5151954293251038},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4706111550331116},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.465536504983902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4525442123413086},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3610749840736389},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2368837594985962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19880500435829163},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07821202278137207}],"concepts":[{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.694911003112793},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.6675283312797546},{"id":"https://openalex.org/C2777087348","wikidata":"https://www.wikidata.org/wiki/Q184848","display_name":"Index finger","level":2,"score":0.6648867130279541},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5988266468048096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5151954293251038},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4706111550331116},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.465536504983902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4525442123413086},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3610749840736389},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2368837594985962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19880500435829163},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07821202278137207},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5199999809265137,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1589353019","https://openalex.org/W2050835671","https://openalex.org/W2085133845","https://openalex.org/W2121327667","https://openalex.org/W2126701792","https://openalex.org/W2130280438","https://openalex.org/W2197459753","https://openalex.org/W2304108689","https://openalex.org/W2412908322","https://openalex.org/W4210660029","https://openalex.org/W4247543838"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W3106073779","https://openalex.org/W2198321481"],"abstract_inverted_index":{"This":[0,13,98],"paper":[1],"presents":[2],"the":[3,10,34,37,45,48,57,86,91,100],"architecture":[4,55],"of":[5,17,56,82,102],"a":[6,60,64,70,83,95],"new":[7,14],"hand":[8,15,68],"for":[9],"robot":[11],"iCub.":[12],"consists":[16],"five":[18,22],"fingers":[19],"actuated":[20,27,41,52],"by":[21],"motors.":[23],"The":[24,54,67],"thumb":[25],"is":[26,88],"both":[28,78],"in":[29,32],"flexion":[30,81],"and":[31,36,43,47,63,80],"abduction,":[33],"index":[35],"middle":[38],"finger":[39,50,58],"are":[40,51],"independently,":[42],"finally,":[44],"ring":[46],"little":[49],"together.":[53],"combines":[59],"linkage-based":[61],"approach":[62],"cable":[65,72,76,87],"actuation.":[66],"uses":[69],"push-pull":[71],"system;":[73],"only":[74],"one":[75],"does":[77],"extension":[79],"finger.":[84],"Moreover,":[85],"connected":[89],"to":[90,94],"motor":[92],"thanks":[93],"helical":[96],"link.":[97],"allows":[99],"transmission":[101],"higher":[103],"forces.":[104]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
