{"id":"https://openalex.org/W4387143510","doi":"https://doi.org/10.1109/case56687.2023.10260468","title":"A Modular End Effector with Active Rolling Fingertip for Picking Cloth-Like Objects","display_name":"A Modular End Effector with Active Rolling Fingertip for Picking Cloth-Like Objects","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387143510","doi":"https://doi.org/10.1109/case56687.2023.10260468"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260468","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":"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/A5067420608","display_name":"Kun Zhang","orcid":"https://orcid.org/0000-0001-9195-8000"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kun Zhang","raw_affiliation_strings":["Robotics Institute, Hong Kong University of Science and Technology,Clear Water Bay,Hong Kong","Robotics Institute, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Hong Kong University of Science and Technology,Clear Water Bay,Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Robotics Institute, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101778008","display_name":"Yuanhang Yang","orcid":"https://orcid.org/0000-0002-7062-3532"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanhang Yang","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology,Shenzhen,China","School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100325713","display_name":"Zhiming Chen","orcid":"https://orcid.org/0009-0008-6945-9182"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhiming Chen","raw_affiliation_strings":["Robotics Institute, Hong Kong University of Science and Technology,Clear Water Bay,Hong Kong","Robotics Institute, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Hong Kong University of Science and Technology,Clear Water Bay,Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Robotics Institute, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380229","display_name":"Hua Chen","orcid":"https://orcid.org/0000-0002-9634-9105"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Chen","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology,Shenzhen,China","School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I4210096887","display_name":"HKUST Shenzhen Research Institute","ror":"https://ror.org/00sz56h79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I200769079","https://openalex.org/I20231570","https://openalex.org/I4210096887","https://openalex.org/I4210147811"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU","CN"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute,Futian, Shenzhen,China","Department of Mechanical & Aerospace Engineering, Monash University, Clayton, Australia","HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute,Futian, Shenzhen,China","institution_ids":["https://openalex.org/I4210096887","https://openalex.org/I4210105229"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Monash University, Clayton, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Futian, Shenzhen, China","institution_ids":["https://openalex.org/I4210096887"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of System Design and Intelligent Manufacturing, Southern University of Science and Technology,Shenzhen,China","School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3442,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58591151,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9984999895095825,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8999963998794556},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8170238733291626},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.722857654094696},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7067553997039795},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6876537799835205},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6202479004859924},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5711532831192017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5185514092445374},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.477050244808197},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.4521879255771637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43995413184165955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4277127683162689},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38330626487731934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3831466734409332},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35227251052856445},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3494755029678345},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27774399518966675}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8999963998794556},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8170238733291626},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.722857654094696},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7067553997039795},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6876537799835205},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6202479004859924},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5711532831192017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5185514092445374},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.477050244808197},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.4521879255771637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43995413184165955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4277127683162689},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38330626487731934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3831466734409332},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35227251052856445},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3494755029678345},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27774399518966675},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case56687.2023.10260468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260468","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:repository.hkust.edu.hk:1783.1-133285","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-133285","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G722785086","display_name":null,"funder_award_id":"62073159,62003155","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"},{"id":"https://openalex.org/G7316083426","display_name":null,"funder_award_id":"ITS/036/21FP","funder_id":"https://openalex.org/F4320326427","funder_display_name":"Innovation and Technology Fund"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320326427","display_name":"Innovation and Technology Fund","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969865247","https://openalex.org/W2075807138","https://openalex.org/W2104577043","https://openalex.org/W2133353747","https://openalex.org/W2530616813","https://openalex.org/W2585060263","https://openalex.org/W2808405904","https://openalex.org/W2963881774","https://openalex.org/W3003873430","https://openalex.org/W3004333455","https://openalex.org/W3026627579","https://openalex.org/W3035880432","https://openalex.org/W3126384050","https://openalex.org/W3159812989","https://openalex.org/W3160566238","https://openalex.org/W3162456055","https://openalex.org/W3164946289","https://openalex.org/W3206970255","https://openalex.org/W3207181464","https://openalex.org/W4223476016","https://openalex.org/W4399469378","https://openalex.org/W6669407756","https://openalex.org/W6795508825"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2121886256","https://openalex.org/W3159512259","https://openalex.org/W2076754931","https://openalex.org/W3148362106","https://openalex.org/W2053228135","https://openalex.org/W1976950967"],"abstract_inverted_index":{"Cloth-like":[0],"items":[1],"are":[2,89],"ubiquitous":[3],"in":[4,30,158],"both":[5],"daily":[6],"life":[7],"and":[8,118],"industrial":[9],"production,":[10],"but":[11],"their":[12],"softness":[13],"makes":[14],"them":[15,142],"difficult":[16],"to":[17,51,81,101],"manipulate.":[18],"This":[19],"paper":[20],"focuses":[21],"on":[22,61,121,132],"solving":[23],"the":[24,31,66,76,79,98,103,107,110,150],"problem":[25],"of":[26,33,58,65,97,109,135],"automatic":[27],"manipulation":[28],"especially":[29],"scenario":[32],"flat":[34],"surface":[35],"by":[36],"introducing":[37],"a":[38,45,55,114,122],"novel":[39],"end-effector":[40],"mechanism.":[41],"The":[42,145],"gripper":[43,116,151],"utilizes":[44],"modular":[46],"design":[47],"concept,":[48],"enabling":[49],"it":[50,120],"be":[52],"reconstructed":[53],"with":[54,91,138,152],"varying":[56],"number":[57],"fingers":[59,67],"based":[60],"specific":[62],"requirements.":[63],"One":[64],"has":[68],"an":[69],"active":[70],"rolling":[71],"fingertip":[72],"that":[73,94,149],"rolls":[74],"up":[75],"object":[77],"from":[78,143],"table":[80],"create":[82],"wrinkles,":[83],"for":[84,126],"easier":[85],"grasping.":[86],"Additionally,":[87],"there":[88],"fingertips":[90],"revolute":[92],"joints":[93],"enable":[95],"fine-tuning":[96],"grasp":[99],"configuration":[100,155],"fix":[102],"objects.":[104],"To":[105],"test":[106],"effectiveness":[108],"mechanism,":[111],"we":[112],"manufactured":[113],"real":[115],"device":[117],"mounted":[119],"collaborative":[123],"robotic":[124],"arm":[125],"grasping":[127,141],"tests.":[128],"Experiments":[129],"were":[130],"conducted":[131],"six":[133],"kinds":[134],"cloth-like":[136],"objects":[137],"different":[139],"materials,":[140],"above.":[144],"experimental":[146],"results":[147],"show":[148],"this":[153,159],"mechanism":[154],"performs":[156],"well":[157],"scenario.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}