{"id":"https://openalex.org/W4414433015","doi":"https://doi.org/10.1109/case58245.2025.11163992","title":"Teleoperation of a Compliant Avian-Inspired Robotic Claw with Continuum Digits","display_name":"Teleoperation of a Compliant Avian-Inspired Robotic Claw with Continuum Digits","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414433015","doi":"https://doi.org/10.1109/case58245.2025.11163992"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11163992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st 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/A5109692961","display_name":"John Mohrmann","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Mohrmann","raw_affiliation_strings":["Clemson University,Department of Electrical &#x0026; Computer Engineering,Clemson,SC,USA,29634"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Electrical &#x0026; Computer Engineering,Clemson,SC,USA,29634","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116775215","display_name":"Jack Schuver","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jack Schuver","raw_affiliation_strings":["Clemson University,Department of Electrical &#x0026; Computer Engineering,Clemson,SC,USA,29634"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Electrical &#x0026; Computer Engineering,Clemson,SC,USA,29634","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023164135","display_name":"Miao Yu","orcid":"https://orcid.org/0009-0009-7818-4720"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miao Yu","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011466895","display_name":"Ian D. Walker","orcid":"https://orcid.org/0000-0002-9465-2960"},"institutions":[{"id":"https://openalex.org/I12834331","display_name":"University of Wyoming","ror":"https://ror.org/01485tq96","country_code":"US","type":"education","lineage":["https://openalex.org/I12834331"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Walker","raw_affiliation_strings":["University of Wyoming,Department of Electrical Engineering &#x0026; Computer Science,Laramie,WY,USA,82071"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wyoming,Department of Electrical Engineering &#x0026; Computer Science,Laramie,WY,USA,82071","institution_ids":["https://openalex.org/I12834331"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042281414","display_name":"Ge Lv","orcid":"https://orcid.org/0000-0001-5457-4075"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ge Lv","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21265994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1802","last_page":"1808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9660999774932861,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9660999774932861,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9531999826431274,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9204000234603882,"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/grippers","display_name":"Grippers","score":0.9172999858856201},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7350999712944031},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6644999980926514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5580000281333923},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.36469998955726624},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.3580000102519989},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.3562999963760376},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.32989999651908875}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9172999858856201},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7350999712944031},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6644999980926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5580000281333923},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4562000036239624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44440001249313354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43459999561309814},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3846000134944916},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3677999973297119},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.36469998955726624},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.3562999963760376},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3531000018119812},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.32989999651908875},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31150001287460327},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3034000098705292},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.29429998993873596},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2858000099658966},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.26570001244544983},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.26429998874664307},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.26159998774528503},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2612999975681305},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11163992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1567569284","https://openalex.org/W2019428733","https://openalex.org/W2043484674","https://openalex.org/W2063058034","https://openalex.org/W2065576483","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2118876932","https://openalex.org/W2126701792","https://openalex.org/W2126828342","https://openalex.org/W2127556655","https://openalex.org/W2137554212","https://openalex.org/W2156378823","https://openalex.org/W2165302798","https://openalex.org/W2218460536","https://openalex.org/W2296718990","https://openalex.org/W2556078315","https://openalex.org/W2560730116","https://openalex.org/W2567552155","https://openalex.org/W2615167078","https://openalex.org/W2967379086","https://openalex.org/W2968093189","https://openalex.org/W2970521931","https://openalex.org/W2993799976","https://openalex.org/W3004117123","https://openalex.org/W3196620078","https://openalex.org/W3204719635","https://openalex.org/W3215142034","https://openalex.org/W3217370814","https://openalex.org/W4200386777","https://openalex.org/W4244322618","https://openalex.org/W4360619340","https://openalex.org/W4392926994"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"the":[3,29,77,86,97,120,136,139],"development":[4],"of":[5,17,61,79,90,105,122,138],"a":[6,39,44,103,116],"bio-inspired,":[7],"large-scale":[8],"compliant":[9],"CLAW":[10,31],"with":[11,35,43,85,128],"continuum":[12,63,123],"digits":[13],"designed":[14],"for":[15,125,143],"grasping":[16,78],"delicate":[18,80],"objects":[19,114],"via":[20,53],"human":[21,146],"teleoperation.":[22],"Drawing":[23],"inspiration":[24],"from":[25,115],"avian":[26],"perching":[27,72],"behaviors,":[28],"proposed":[30,140],"utilizes":[32],"minimal":[33,129],"sensing,":[34],"input":[36],"provided":[37],"through":[38],"flexible":[40],"glove":[41],"equipped":[42],"single":[45],"bending":[46],"sensor,":[47],"while":[48],"its":[49,62],"shape":[50],"is":[51],"controlled":[52],"an":[54],"inertial":[55],"measurement":[56],"unit":[57],"mounted":[58],"on":[59,70,112],"one":[60],"digits.":[64],"Unlike":[65],"previous":[66],"bird-inspired":[67],"grippers":[68,142],"focused":[69],"small-scale":[71],"applications,":[73],"our":[74],"approach":[75],"targets":[76],"objects,":[81,106],"addressing":[82],"challenges":[83],"associated":[84],"compliance":[87],"and":[88],"shape-sensing":[89],"soft":[91],"robotic":[92],"components.":[93],"The":[94],"experiments":[95],"demonstrate":[96],"CLAW\u2019s":[98],"ability":[99],"to":[100],"effectively":[101],"grasp":[102],"variety":[104],"as":[107,109],"well":[108],"proof-of-concept":[110],"results":[111,134],"\"rescuing\"":[113],"confined":[117],"environment,":[118],"showcasing":[119],"potential":[121,137],"robots":[124],"adaptive":[126],"manipulation":[127],"sensor":[130],"input.":[131],"These":[132],"preliminary":[133],"underscore":[135],"continuum-based":[141],"applications":[144],"involving":[145],"teleoperators":[147],"in":[148],"human-robot":[149],"collaborative":[150],"tasks.":[151]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
