{"id":"https://openalex.org/W2498394325","doi":"https://doi.org/10.1109/biorob.2016.7523683","title":"Underactuated finger mechanism for natural motion and self-adaptive grasping towards bionic partial hand","display_name":"Underactuated finger mechanism for natural motion and self-adaptive grasping towards bionic partial hand","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2498394325","doi":"https://doi.org/10.1109/biorob.2016.7523683","mag":"2498394325"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5027329641","display_name":"Dukchan Yoon","orcid":"https://orcid.org/0000-0002-4810-9529"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Dukchan Yoon","raw_affiliation_strings":["Department of Electronic Systems Engineering, Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Systems Engineering, Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103073497","display_name":"Geon Lee","orcid":"https://orcid.org/0000-0002-2089-0528"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Geon Lee","raw_affiliation_strings":["Department of Electronic Systems Engineering, Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Systems Engineering, Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087726465","display_name":"Sungon Lee","orcid":"https://orcid.org/0000-0003-1313-3403"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungon Lee","raw_affiliation_strings":["Department of Electronic Systems Engineering, Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Systems Engineering, Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064000503","display_name":"Youngjin Choi","orcid":"https://orcid.org/0000-0002-5009-9059"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngjin Choi","raw_affiliation_strings":["Department of Electronic Systems Engineering, Hanyang University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Systems Engineering, Hanyang University, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027329641"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":1.081,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.79363438,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"548","last_page":"553"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9959999918937683,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9944000244140625,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6970364451408386},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6850084066390991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6315816640853882},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.535154402256012},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.4130234718322754},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41125285625457764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40850189328193665},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17110079526901245},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09104999899864197},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07434001564979553}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6970364451408386},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6850084066390991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6315816640853882},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.535154402256012},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.4130234718322754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41125285625457764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40850189328193665},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17110079526901245},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09104999899864197},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07434001564979553},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W1971320014","https://openalex.org/W1973550278","https://openalex.org/W1992055330","https://openalex.org/W2003107517","https://openalex.org/W2005672870","https://openalex.org/W2037178089","https://openalex.org/W2055256495","https://openalex.org/W2063822181","https://openalex.org/W2071732592","https://openalex.org/W2072724669","https://openalex.org/W2085163796","https://openalex.org/W2085545845","https://openalex.org/W2103117443","https://openalex.org/W2104544700","https://openalex.org/W2134167019","https://openalex.org/W2140771116","https://openalex.org/W2200001600","https://openalex.org/W4210660029"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"underactuated":[4],"finger":[5],"mechanism":[6,23,44],"enabling":[7],"both":[8,93],"self-adaptive":[9],"grasping":[10,66],"and":[11,17,28,37,49,77,95],"natural":[12,70],"motion":[13,71],"such":[14],"as":[15,67,69],"flexion":[16],"extension.":[18],"It":[19],"has":[20],"three":[21],"degrees-of-freedom":[22],"composed":[24],"of":[25,31,46,88,104],"one":[26,50],"actuator":[27],"a":[29],"couple":[30],"passive":[32,58],"components":[33],"including":[34],"torsional":[35],"springs":[36],"mechanical":[38],"stoppers.":[39],"In":[40],"detail,":[41],"the":[42,85,89,101,105],"proposed":[43,90,106],"consists":[45],"two":[47],"five-bar":[48,55],"four-bar":[51],"linkages.":[52],"Since":[53],"each":[54],"linkage":[56],"contains":[57],"components,":[59],"it":[60],"is":[61],"allowed":[62],"to":[63,83,99],"have":[64],"adaptive":[65],"well":[68],"for":[72],"human":[73],"finger-like":[74],"behavior.":[75],"Kinematics":[76],"static":[78],"force":[79],"analysis":[80],"are":[81,97],"performed":[82],"reveal":[84],"operational":[86],"principle":[87],"mechanism.":[91,107],"Finally":[92],"simulation":[94],"experiments":[96],"conducted":[98],"show":[100],"design":[102],"feasibility":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}
