{"id":"https://openalex.org/W4387143518","doi":"https://doi.org/10.1109/case56687.2023.10260297","title":"An Underactuated Tendon-Driven Gripper with Variable Stiffness for Deformable Agri-Food Objects","display_name":"An Underactuated Tendon-Driven Gripper with Variable Stiffness for Deformable Agri-Food Objects","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387143518","doi":"https://doi.org/10.1109/case56687.2023.10260297"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.utwente.nl/en/publications/41ba1251-469b-4595-98e4-164aa328bfe1","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041782017","display_name":"M. Bluiminck","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mart Bluiminck","raw_affiliation_strings":["University of Twente,Robotics & Mechatronics (RaM) group,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente,Robotics & Mechatronics (RaM) group,The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039681112","display_name":"Wesley Roozing","orcid":"https://orcid.org/0000-0002-7991-3704"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wesley Roozing","raw_affiliation_strings":["University of Twente,Robotics & Mechatronics (RaM) group,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente,Robotics & Mechatronics (RaM) group,The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":2.3379,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.89625105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.996399998664856,"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/underactuation","display_name":"Underactuation","score":0.8384795188903809},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7987207174301147},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6741394996643066},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6711942553520203},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6704241037368774},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5863088965415955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5446590185165405},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5066078901290894},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.46777501702308655},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.41491228342056274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35811954736709595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3152306079864502},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2816845774650574},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1768900454044342},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16727802157402039},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09576386213302612},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06956169009208679},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06398499011993408}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8384795188903809},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7987207174301147},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6741394996643066},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6711942553520203},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6704241037368774},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5863088965415955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5446590185165405},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5066078901290894},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.46777501702308655},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.41491228342056274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35811954736709595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3152306079864502},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2816845774650574},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1768900454044342},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16727802157402039},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09576386213302612},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06956169009208679},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06398499011993408},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/case56687.2023.10260297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:openaire/41ba1251-469b-4595-98e4-164aa328bfe1","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/41ba1251-469b-4595-98e4-164aa328bfe1","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Bluiminck, M & Roozing, W 2023, An Underactuated Tendon-Driven Gripper with Variable Stiffness for Deformable Agri-Food Objects. in 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). 19th International Conference on Automation Science and Engineering, CASE 2023, Auckland, New Zealand, 26/08/23. https://doi.org/10.1109/case56687.2023.10260297","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:ris.utwente.nl:publications/41ba1251-469b-4595-98e4-164aa328bfe1","is_oa":true,"landing_page_url":"https://research.utwente.nl/files/321461060/An_Underactuated_Tendon-Driven_Gripper_with_Variable_Stiffness_for_Deformable_Agri-Food_Objects.pdf","pdf_url":"https://ris.utwente.nl/ws/files/321461060/An_Underactuated_Tendon-Driven_Gripper_with_Variable_Stiffness_for_Deformable_Agri-Food_Objects.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Bluiminck, M & Roozing, W 2023, An Underactuated Tendon-Driven Gripper with Variable Stiffness for Deformable Agri-Food Objects. in 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). 19th International Conference on Automation Science and Engineering, CASE 2023, Auckland, New Zealand, 26/08/23. https://doi.org/10.1109/case56687.2023.10260297","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/41ba1251-469b-4595-98e4-164aa328bfe1","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/41ba1251-469b-4595-98e4-164aa328bfe1","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Bluiminck, M & Roozing, W 2023, An Underactuated Tendon-Driven Gripper with Variable Stiffness for Deformable Agri-Food Objects. in 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). 19th International Conference on Automation Science and Engineering, CASE 2023, Auckland, New Zealand, 26/08/23. https://doi.org/10.1109/case56687.2023.10260297","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W285944284","https://openalex.org/W591604131","https://openalex.org/W1584921675","https://openalex.org/W1971688004","https://openalex.org/W2000231227","https://openalex.org/W2007170601","https://openalex.org/W2033246370","https://openalex.org/W2073136132","https://openalex.org/W2079830066","https://openalex.org/W2108154420","https://openalex.org/W2139384167","https://openalex.org/W2144573888","https://openalex.org/W2164575107","https://openalex.org/W2169100281","https://openalex.org/W2261736307","https://openalex.org/W2551680314","https://openalex.org/W2753938048","https://openalex.org/W2761143270","https://openalex.org/W2910935384","https://openalex.org/W3048356206","https://openalex.org/W3081048745","https://openalex.org/W3135081322","https://openalex.org/W4242962501","https://openalex.org/W6744891271"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W3035867307","https://openalex.org/W2157487448","https://openalex.org/W2613999385","https://openalex.org/W2387707337","https://openalex.org/W2078568084","https://openalex.org/W4200004409","https://openalex.org/W143055317"],"abstract_inverted_index":{"Grasping":[0],"and":[1,21,27,41,60,94,98],"manipulation":[2],"of":[3,29,51,57],"deformable":[4],"objects":[5,14],"are":[6],"challenging":[7],"problems":[8],"in":[9,17,54,82],"the":[10,25,55],"food-processing":[11],"industry.":[12],"Food":[13],"vary":[15],"wildly":[16],"shape,":[18],"size,":[19],"mass,":[20],"stiffness.":[22,44],"We":[23,45,73],"present":[24,47,75],"design":[26],"control":[28,67],"an":[30],"underactuated":[31],"tendon-driven":[32],"finger-based":[33],"gripper":[34],"with":[35],"as":[36,63,65],"key":[37],"features":[38],"high":[39],"adaptability":[40],"variable":[42],"joint":[43,99],"first":[46],"a":[48,66,76],"kinematic":[49],"analysis":[50],"tendon":[52],"routing":[53],"context":[56],"grasp":[58,96],"force":[59,97],"adjustable":[61],"stiffness,":[62],"well":[64],"strategy":[68],"to":[69],"leverage":[70],"these":[71],"features.":[72],"then":[74],"proof-of-concept":[77],"prototype,":[78],"which":[79],"is":[80],"validated":[81],"experiment.":[83],"The":[84],"results":[85],"show":[86],"that":[87,95],"stable":[88],"grasps":[89],"can":[90,101],"be":[91,102],"achieved":[92],"adaptively,":[93],"stiffness":[100],"regulated":[103],"independently":[104],"for":[105],"fragile":[106],"objects.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}