{"id":"https://openalex.org/W2053741803","doi":"https://doi.org/10.1109/biorob.2014.6913904","title":"A grasp synthesis algorithm based on postural synergies for an anthropomorphic arm-hand robotic system","display_name":"A grasp synthesis algorithm based on postural synergies for an anthropomorphic arm-hand robotic system","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2053741803","doi":"https://doi.org/10.1109/biorob.2014.6913904","mag":"2053741803"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2014.6913904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","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/A5050800961","display_name":"Antonio Provenzale","orcid":null},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Antonio Provenzale","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy","institution_ids":["https://openalex.org/I155125353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084737497","display_name":"Francesca Cordella","orcid":"https://orcid.org/0000-0002-6946-0377"},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesca Cordella","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy","institution_ids":["https://openalex.org/I155125353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024560524","display_name":"Loredana Zollo","orcid":"https://orcid.org/0000-0002-8015-010X"},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Loredana Zollo","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy","institution_ids":["https://openalex.org/I155125353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005593517","display_name":"Angelo Davalli","orcid":"https://orcid.org/0000-0002-5007-8661"},"institutions":[{"id":"https://openalex.org/I4210119350","display_name":"Istituto Nazionale per l'Assicurazione Contro gli Infortuni sul Lavoro","ror":"https://ror.org/01t264m74","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210119350"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Angelo Davalli","raw_affiliation_strings":["Centro Protesi INAIL, Budrio, Italy"],"affiliations":[{"raw_affiliation_string":"Centro Protesi INAIL, Budrio, Italy","institution_ids":["https://openalex.org/I4210119350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062142526","display_name":"Rinaldo Sacchetti","orcid":"https://orcid.org/0000-0003-0041-1603"},"institutions":[{"id":"https://openalex.org/I4210119350","display_name":"Istituto Nazionale per l'Assicurazione Contro gli Infortuni sul Lavoro","ror":"https://ror.org/01t264m74","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210119350"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rinaldo Sacchetti","raw_affiliation_strings":["Centro Protesi INAIL, Budrio, Italy"],"affiliations":[{"raw_affiliation_string":"Centro Protesi INAIL, Budrio, Italy","institution_ids":["https://openalex.org/I4210119350"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062776728","display_name":"Eugenio Guglielmelli","orcid":"https://orcid.org/0000-0001-8258-6073"},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eugenio Guglielmelli","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Universit\u00e0 Campus Bio-Medico, Roma, Italy","institution_ids":["https://openalex.org/I155125353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050800961"],"corresponding_institution_ids":["https://openalex.org/I155125353"],"apc_list":null,"apc_paid":null,"fwci":2.4345,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.89734849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"958","last_page":"963"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.993399977684021,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"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/grasp","display_name":"GRASP","score":0.9234217405319214},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.7868385314941406},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.7312537431716919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5969293117523193},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48404520750045776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46408507227897644},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4601709246635437},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43497711420059204},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.43327391147613525},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.42610517144203186},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38072502613067627},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36783161759376526}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9234217405319214},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.7868385314941406},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7312537431716919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5969293117523193},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48404520750045776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46408507227897644},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4601709246635437},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43497711420059204},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.43327391147613525},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.42610517144203186},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38072502613067627},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36783161759376526},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2014.6913904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321781","display_name":"Ministero della Salute","ror":"https://ror.org/00789fa95"},{"id":"https://openalex.org/F4320324633","display_name":"Istituto Nazionale per l'Assicurazione Contro Gli Infortuni sul Lavoro","ror":"https://ror.org/01t264m74"},{"id":"https://openalex.org/F4320331528","display_name":"Ministero dell'Universit\u00e0 e della Ricerca","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W387150","https://openalex.org/W1970764783","https://openalex.org/W1978580730","https://openalex.org/W1984237968","https://openalex.org/W1997791666","https://openalex.org/W2005824379","https://openalex.org/W2026020428","https://openalex.org/W2030605379","https://openalex.org/W2030949184","https://openalex.org/W2039019138","https://openalex.org/W2066202893","https://openalex.org/W2106215490","https://openalex.org/W2121132554","https://openalex.org/W2136909956","https://openalex.org/W2144573888","https://openalex.org/W2154006563","https://openalex.org/W2211217408","https://openalex.org/W6659982258","https://openalex.org/W6682594430"],"related_works":["https://openalex.org/W2625202073","https://openalex.org/W2088476797","https://openalex.org/W429889454","https://openalex.org/W4312362134","https://openalex.org/W2007709467","https://openalex.org/W1755628009","https://openalex.org/W2566345632","https://openalex.org/W2013947590","https://openalex.org/W2390068883","https://openalex.org/W2312228814"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"development,":[3],"implementation":[4,133],"and":[5,58,68,78,103,118,134],"experimental":[6,124],"validation":[7],"of":[8,35,38,50,61,71,111],"a":[9,20,48,91,105],"grasp":[10,95,153],"synthesis":[11,96,154],"algorithm":[12,28,97,132],"for":[13],"an":[14,86],"anthropomorphic":[15],"robotic":[16,108,140],"arm-hand":[17,107],"system":[18],"in":[19,101],"low":[21],"dimensional":[22],"posture":[23,65],"subspace":[24],"is":[25,142],"proposed.":[26],"The":[27,74,94,123],"has":[29,52,98],"been":[30,53,82,99],"developed":[31],"on":[32,90,104],"the":[33,36,56,59,62,112,119,128,138,146,152],"basis":[34],"analysis":[37,60],"human":[39,63],"hand":[40,76,147],"postural":[41],"synergies.":[42],"Drawing":[43],"inspiration":[44],"from":[45],"neuroscientific":[46],"studies,":[47],"database":[49],"grasps":[51],"created":[54],"through":[55],"observation":[57],"finger":[64],"during":[66,131],"reaching":[67],"grasping":[69],"tasks":[70],"several":[72],"objects.":[73],"optimal":[75],"configuration":[77],"wrist":[79],"pose":[80],"have":[81,126,135],"determined":[83],"by":[84,151],"applying":[85],"optimization":[87],"procedure":[88],"grounded":[89],"stochastic":[92],"method.":[93],"validated":[100,127],"simulation":[102],"real":[106],"platform":[109,141],"consisting":[110],"KUKA":[113],"LWR":[114],"4+":[115],"robot":[116],"arm":[117],"DLR-HIT":[120],"Hand":[121],"II.":[122],"results":[125],"hypothesis":[129],"made":[130],"shown":[136],"that":[137],"armhand":[139],"able":[143],"to":[144],"perform":[145],"preshaping":[148],"configurations":[149],"predicted":[150],"algorithm.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"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":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
