{"id":"https://openalex.org/W2295282371","doi":"https://doi.org/10.1109/embc.2015.7319176","title":"Design and development of a bio-inspired, under-actuated soft gripper","display_name":"Design and development of a bio-inspired, under-actuated soft gripper","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W2295282371","doi":"https://doi.org/10.1109/embc.2015.7319176","mag":"2295282371","pmid":"https://pubmed.ncbi.nlm.nih.gov/26737076"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2015.7319176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2015.7319176","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5103231879","display_name":"Taimoor Hassan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Taimoor Hassan","raw_affiliation_strings":["The BioRobotics Institute, Pontedera, PI, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038230917","display_name":"Mariangela Manti","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mariangela Manti","raw_affiliation_strings":["The BioRobotics Institute, Pontedera, PI, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071771975","display_name":"Giovanni Passetti","orcid":"https://orcid.org/0000-0001-8380-6453"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Passetti","raw_affiliation_strings":["The BioRobotics Institute, Pontedera, PI, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079050492","display_name":"Nicol\u00f2 d\u2019Elia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicolo d'Elia","raw_affiliation_strings":["The BioRobotics Institute, Pontedera, PI, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["The BioRobotics Institute, Pontedera, PI, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I4210116474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I4210116474","display_name":"Center for Micro-BioRobotics","ror":"https://ror.org/02nbgxg43","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210116474"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["The BioRobotics Institute, Pontedera, PI, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I4210116474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116474"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2015","issue":null,"first_page":"3619","last_page":"3622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"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/grippers","display_name":"Grippers","score":0.9524397253990173},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.6129010319709778},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.604778528213501},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5956972241401672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.582697868347168},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.48451536893844604},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44031673669815063},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4255644381046295},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3943936824798584},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3213828504085541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3111571669578552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3043214678764343},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.1992633044719696},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.17583778500556946}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9524397253990173},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.6129010319709778},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.604778528213501},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5956972241401672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.582697868347168},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.48451536893844604},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44031673669815063},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4255644381046295},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3943936824798584},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3213828504085541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3111571669578552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3043214678764343},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.1992633044719696},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.17583778500556946},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D001698","descriptor_name":"Biomedical Engineering","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D001698","descriptor_name":"Biomedical Engineering","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D001698","descriptor_name":"Biomedical Engineering","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2015.7319176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2015.7319176","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:26737076","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26737076","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:www.iris.sssup.it:11382/508591","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/508591","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1994380917","https://openalex.org/W2055255591","https://openalex.org/W2126701792","https://openalex.org/W2127966735","https://openalex.org/W2144113061","https://openalex.org/W2151968342","https://openalex.org/W4231327205","https://openalex.org/W4233227660","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W2908594317","https://openalex.org/W3134474396","https://openalex.org/W4385439013","https://openalex.org/W3206105843","https://openalex.org/W4296449477","https://openalex.org/W4385356446","https://openalex.org/W3119366040","https://openalex.org/W4377030113","https://openalex.org/W4376605699"],"abstract_inverted_index":{"The":[0],"development":[1],"of":[2,76,106,143],"robotic":[3],"devices":[4],"able":[5],"to":[6,37,50,102,150],"perform":[7],"manipulation":[8],"tasks":[9],"mimicking":[10],"the":[11,24,60,63,77,104,107,137,140,144,148],"human":[12],"hand":[13],"has":[14,94],"been":[15,95,119],"assessed":[16],"on":[17,87],"large":[18],"scale.":[19],"This":[20],"work":[21],"stands":[22],"in":[23,35,97,100,128],"challenging":[25],"scenario":[26],"where":[27],"soft":[28,39,57,145,155],"materials":[29],"are":[30,48],"combined":[31],"with":[32,41,79,124],"bio-inspired":[33],"design":[34,61,81,152],"order":[36,101],"develop":[38],"grippers":[40],"improved":[42],"grasping":[43],"and":[44,55,62,82,110,115,131,139],"holding":[45,116],"capabilities.":[46],"We":[47],"going":[49],"show":[51],"a":[52,68],"low-cost,":[53],"under-actuated":[54],"adaptable":[56],"gripper,":[58],"highlighting":[59],"manufacturing":[64],"process.":[65],"In":[66],"particular,":[67],"critical":[69],"analysis":[70],"is":[71],"made":[72],"among":[73],"three":[74],"versions":[75],"gripper":[78],"same":[80],"actuation":[83,92],"mechanism,":[84],"but":[85],"based":[86],"different":[88],"materials.":[89],"A":[90],"novel":[91,151],"principle":[93],"implemented":[96],"both":[98],"cases,":[99],"reduce":[103],"encumbrance":[105],"entire":[108],"system":[109],"improve":[111],"its":[112],"aesthetics.":[113],"Grasping":[114],"capabilities":[117],"have":[118],"tested":[120],"for":[121,154],"each":[122],"device,":[123],"target":[125],"objects":[126],"varying":[127],"shape,":[129],"size":[130],"material.":[132],"Results":[133],"highlight":[134],"synergy":[135],"between":[136],"geometry":[138],"intrinsic":[141],"properties":[142],"material,":[146],"showing":[147],"way":[149],"principles":[153],"grippers.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
