{"id":"https://openalex.org/W2088029896","doi":"https://doi.org/10.1109/coase.2012.6386364","title":"Derivation and verification of synergy coordinates for the DLR hand arm system","display_name":"Derivation and verification of synergy coordinates for the DLR hand arm system","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W2088029896","doi":"https://doi.org/10.1109/coase.2012.6386364","mag":"2088029896"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2012.6386364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011391990","display_name":"Thomas Wimb\u00f6ck","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wimbock","raw_affiliation_strings":["Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, Wessling, Germany","Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003601226","display_name":"Jens Reinecke","orcid":"https://orcid.org/0000-0001-9256-0766"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Reinecke","raw_affiliation_strings":["Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, Wessling, Germany","Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008690489","display_name":"Maxime Chalon","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maxime Chalon","raw_affiliation_strings":["Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, Wessling, Germany","Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robotics and Mechatronics Center (RMC), German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.6411,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82402672,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9943000078201294,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9902999997138977,"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/computer-science","display_name":"Computer science","score":0.5845139026641846},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41092386841773987},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3567534387111664},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34649986028671265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2711465358734131}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845139026641846},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41092386841773987},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3567534387111664},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34649986028671265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2711465358734131}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2012.6386364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386364","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:80050","is_oa":false,"landing_page_url":"https://elib.dlr.de/80050/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2060774053","https://openalex.org/W2068027769","https://openalex.org/W2106215490","https://openalex.org/W2118040554","https://openalex.org/W2123554499","https://openalex.org/W2128831103","https://openalex.org/W2129908076","https://openalex.org/W2133296014","https://openalex.org/W2134167019","https://openalex.org/W2139086916","https://openalex.org/W2144573888","https://openalex.org/W2153935709","https://openalex.org/W2154006563","https://openalex.org/W2294741667","https://openalex.org/W2296470657","https://openalex.org/W3150312055","https://openalex.org/W4239875977","https://openalex.org/W4247352829","https://openalex.org/W6669536848"],"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/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"Dexterous":[0],"robotic":[1,22,80,86],"hands":[2],"are":[3],"still":[4],"not":[5],"used":[6,25,138,232],"in":[7],"production":[8],"lines,":[9],"mainly":[10],"because":[11],"of":[12,32,53,64,70,90,108,122,165,183,191,222],"the":[13,30,35,41,54,68,71,104,109,120,123,132,141,166,181,199,226,235],"complexity":[14,150],"to":[15,26,60,83,139,147,153,162,169,179,224,233],"operate":[16],"such":[17],"hands.":[18],"Most":[19],"often":[20],"a":[21,79,149,157,173,184,210,239],"hand":[23,167,188],"is":[24,38,49],"grasp":[27,81,124,236,242],"and":[28,146,168],"hold":[29],"object":[31,36],"interest":[33],"while":[34],"motion":[37],"performed":[39],"by":[40,96,103,189,204],"arm.":[42],"From":[43,172],"studies":[44],"on":[45,74,131,198],"human":[46],"grasping":[47,55,212],"it":[48],"known":[50],"that":[51,99],"most":[52],"task":[56],"can":[57,93],"be":[58,94],"reduced":[59,151,170],"two":[61,97],"independent":[62],"degree":[63],"freedom":[65,223],"which":[66,127,160,230],"drive":[67],"joints":[69],"hand.":[72],"Based":[73],"this":[75,115,176],"idea,":[76],"we":[77,117],"analyzed":[78],"database":[82],"find":[84],"suitable":[85],"\u201csynergy":[87],"coordinates\u201d.":[88],"77%":[89],"these":[91],"grasps":[92,208],"represented":[95],"coordinates":[98,136],"were":[100,137],"originally":[101],"defined":[102],"19":[105],"joint":[106,142,228],"variables":[107],"DLR":[110,200,215],"Hand":[111,201,216],"Arm":[112,202,217],"System.":[113],"In":[114],"work":[116],"also":[118],"discuss":[119],"importance":[121],"approach":[125],"configurations,":[126],"have":[128],"significant":[129],"influence":[130],"results.":[133],"The":[134,193,214],"synergy":[135],"extend":[140],"level":[143],"impedance":[144],"controller":[145,194],"provide":[148],"interface":[152],"an":[154],"user":[155],"or":[156],"planning":[158],"algorithm,":[159],"leads":[161],"simplified":[163,211],"operation":[164],"teach-in-times.":[171],"different":[174,207],"perspective":[175],"concept":[177],"allows":[178],"imitate":[180],"behavior":[182],"synergistic,":[185],"respectively":[186],"underactuated,":[187],"means":[190],"programming.":[192],"was":[195,231],"evaluated":[196],"successfully":[197],"System":[203,218],"realizing":[205],"several":[206],"covering":[209],"taxonomy.":[213],"has":[219],"additional":[220],"degrees":[221],"adjust":[225],"mechanical":[227],"stiffness,":[229],"modify":[234],"force":[237],"at":[238],"given":[240],"pinch":[241],"configuration.":[243]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
