{"id":"https://openalex.org/W3026704768","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095820","title":"Design and Analysis of a Gripper with Interchangeable Soft Fingers for Ungrounded Mobile Robots","display_name":"Design and Analysis of a Gripper with Interchangeable Soft Fingers for Ungrounded Mobile Robots","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3026704768","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095820","mag":"3026704768"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram47153.2019.9095820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5024965527","display_name":"Loong Yi Lee","orcid":"https://orcid.org/0000-0002-7354-6018"},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Loong Yi Lee","raw_affiliation_strings":["School of Engineering, Monash University Malaysia, Subang Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Monash University Malaysia, Subang Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041564618","display_name":"Surya G. Nurzaman","orcid":"https://orcid.org/0000-0002-8157-6495"},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Surya G. Nurzaman","raw_affiliation_strings":["School of Engineering, Monash University Malaysia, Subang Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Monash University Malaysia, Subang Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047646061","display_name":"Chee Pin Tan","orcid":"https://orcid.org/0000-0003-0162-3763"},"institutions":[{"id":"https://openalex.org/I11662577","display_name":"Monash University Malaysia","ror":"https://ror.org/00yncr324","country_code":"MY","type":"education","lineage":["https://openalex.org/I11662577"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Chee Pin Tan","raw_affiliation_strings":["School of Engineering, Monash University Malaysia, Subang Jaya, Malaysia"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Monash University Malaysia, Subang Jaya, Malaysia","institution_ids":["https://openalex.org/I11662577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024965527"],"corresponding_institution_ids":["https://openalex.org/I11662577"],"apc_list":null,"apc_paid":null,"fwci":0.8396,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.75543008,"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":"221","last_page":"226"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9997000098228455,"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/robot","display_name":"Robot","score":0.6406009197235107},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6333092451095581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6122233867645264},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42018502950668335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22141742706298828}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6406009197235107},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6333092451095581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6122233867645264},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42018502950668335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22141742706298828}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram47153.2019.9095820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1575455118","https://openalex.org/W1975038685","https://openalex.org/W1976329025","https://openalex.org/W1976740140","https://openalex.org/W2063058034","https://openalex.org/W2092615847","https://openalex.org/W2138396958","https://openalex.org/W2151835733","https://openalex.org/W2423449152","https://openalex.org/W2481819320","https://openalex.org/W2495748521","https://openalex.org/W2556078315","https://openalex.org/W2738266212","https://openalex.org/W2784254277","https://openalex.org/W2784648116","https://openalex.org/W2801458905","https://openalex.org/W2801649893","https://openalex.org/W2802922816","https://openalex.org/W2805700843","https://openalex.org/W2809971797","https://openalex.org/W2900539406","https://openalex.org/W3099587965","https://openalex.org/W4232073473"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Despite":[0],"recent":[1],"advances":[2],"in":[3,23,144,173],"the":[4,18,21,66,69,122,132,139,145,155,185,191,195,200,210,222,227],"development":[5,70],"of":[6,9,13,20,64,71,80,131,141,184,194,226],"various":[7,161],"types":[8],"soft":[10,73,115],"grippers,":[11],"much":[12],"it":[14,179],"have":[15],"focused":[16],"on":[17,107,121,147],"implementation":[19],"grippers":[22],"static":[24],"and":[25,77,98,176,224],"stable":[26],"robots":[27,36,40],"like":[28],"industrial":[29],"robotic":[30],"arms.":[31],"However,":[32],"for":[33,60,96,229],"ungrounded":[34,230],"mobile":[35,231],"such":[37],"as":[38,48,50,197,199],"flying":[39],"or":[41,45],"space":[42],"vehicles,":[43],"position":[44,175],"orientation":[46],"errors":[47,172],"well":[49],"perturbation":[51],"due":[52],"to":[53,83,102,137,159,171],"undesirable":[54],"forces":[55],"can":[56],"be":[57],"more":[58],"severe":[59],"grasping.":[61,217],"In":[62],"lieu":[63],"this,":[65],"paper":[67],"presents":[68],"a":[72,92,100,104],"material":[74],"based":[75,120],"gripper":[76,88,148,156,196,228],"an":[78],"investigation":[79],"its":[81,165,204],"feasibility":[82,223],"address":[84],"these":[85],"challenges.":[86],"The":[87,129,150,218],"is":[89,110,134,157,180,202],"designed":[90,119],"with":[91,113,168],"tendon":[93],"driven":[94],"mechanism":[95],"opening":[97],"uses":[99],"spring":[101],"exert":[103],"grasping":[105,192],"force":[106,213],"objects.":[108],"It":[109],"also":[111],"equipped":[112],"interchangeable":[114],"fingers":[116,133,146,186],"which":[117],"are":[118],"Fin":[123],"Ray":[124],"<sup":[125],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[126],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00ae</sup>":[127],"effect.":[128],"geometry":[130],"then":[135],"varied":[136],"investigate":[138],"effect":[140],"varying":[142],"compliance":[143,183],"performance.":[149],"experiment":[151],"results":[152,219],"show":[153,221],"that":[154,182],"able":[158],"grasp":[160],"objects":[162],"placed":[163],"within":[164,203],"work":[166,205],"envelope":[167],"good":[169],"resistance":[170],"object":[174,201],"orientation.":[177],"Furthermore,":[178],"shown":[181],"does":[187],"not":[188],"significantly":[189],"increase":[190],"performance":[193],"long":[198],"envelope,":[206],"but":[207],"greatly":[208],"reduces":[209],"dynamic":[211],"reaction":[212],"exerted":[214],"upwards":[215],"during":[216],"therefore":[220],"advantages":[225],"robots.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}