{"id":"https://openalex.org/W2134863989","doi":"https://doi.org/10.1109/cira.2001.1013164","title":"Design of a novel compact dexterous hand for teleoperation","display_name":"Design of a novel compact dexterous hand for teleoperation","publication_year":2002,"publication_date":"2002-11-14","ids":{"openalex":"https://openalex.org/W2134863989","doi":"https://doi.org/10.1109/cira.2001.1013164","mag":"2134863989"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2001.1013164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2001.1013164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515)","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/A5108520431","display_name":"Guowu Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Guowu Jia","raw_affiliation_strings":["School of Mechanical and Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323037","display_name":"Guang Chen","orcid":"https://orcid.org/0000-0002-7416-592X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guang Chen","raw_affiliation_strings":["School of Mechanical and Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071487619","display_name":"Ming Xie","orcid":"https://orcid.org/0000-0001-8013-7274"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ming Xie","raw_affiliation_strings":["School of Mechanical and Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5108520431"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.5529,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.89395692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"18","issue":null,"first_page":"5","last_page":"10"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9975000023841858,"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/teleoperation","display_name":"Teleoperation","score":0.8762966394424438},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.7094624042510986},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.684443473815918},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.613815188407898},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5445554256439209},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5069608688354492},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4726856052875519},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.44089072942733765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43590760231018066},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.42676693201065063},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4221246838569641},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4106946587562561},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3993995785713196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3736751675605774},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32744187116622925},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20563575625419617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1980067789554596},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1227797269821167}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8762966394424438},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.7094624042510986},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.684443473815918},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.613815188407898},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5445554256439209},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5069608688354492},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4726856052875519},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.44089072942733765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43590760231018066},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.42676693201065063},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4221246838569641},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4106946587562561},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3993995785713196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3736751675605774},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32744187116622925},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20563575625419617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1980067789554596},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1227797269821167},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cira.2001.1013164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2001.1013164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.24.8309","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.24.8309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ntu.edu.sg/mpe/research/programmes/vision/download/cira2001-jia.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W240272400","https://openalex.org/W1483389231","https://openalex.org/W1557450088","https://openalex.org/W1970836002","https://openalex.org/W1996630649","https://openalex.org/W2017907676","https://openalex.org/W2060377091","https://openalex.org/W2061343052","https://openalex.org/W2085545845","https://openalex.org/W2126952943","https://openalex.org/W2159466156","https://openalex.org/W2165156724","https://openalex.org/W2171917416","https://openalex.org/W2527257162","https://openalex.org/W6649455214"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3],"the":[4,42,50,67,77,86,93,109],"mechanism":[5],"design":[6,65],"of":[7,13,22,26,34,44,49,88,102,111,113,126],"a":[8,32,97],"novel":[9],"compact":[10,35],"dexterous":[11,55,104],"hand":[12,56,94],"3":[14],"fingers,":[15],"9":[16],"joints":[17,81],"and":[18,31,46,69,91,118],"7":[19],"DOF":[20,90],"(degrees":[21],"freedom).":[23],"The":[24,100,115],"technology":[25],"single-motor":[27],"actuation":[28,45,68],"is":[29,38,106],"used":[30],"kind":[33],"bilateral":[36],"clutch":[37],"designed":[39],"to":[40,76,84],"reduce":[41,85],"size":[43],"control":[47,70,89,120],"part":[48],"hand.":[51,99],"Different":[52],"from":[53,108],"most":[54],"designs,":[57],"no":[58],"lengthy":[59],"tendons":[60],"are":[61,72,82,128],"needed":[62],"in":[63,122],"this":[64],"since":[66],"parts":[71],"all":[73],"integrated":[74],"closely":[75],"fingers.":[78],"Furthermore,":[79],"passive":[80],"added":[83],"number":[87],"make":[92],"behave":[95],"like":[96],"human":[98],"notion":[101],"perfect":[103],"hands":[105],"discussed":[107],"viewpoint":[110],"degrees":[112],"freedom.":[114],"hand's":[116],"kinematics":[117],"its":[119],"architecture":[121],"our":[123],"experiment":[124],"system":[125],"teleoperation":[127],"also":[129],"briefly":[130],"presented.":[131]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
