{"id":"https://openalex.org/W2980296433","doi":"https://doi.org/10.1109/embc.2019.8857405","title":"A Novel Underactuated Robotic Finger with Variable Stiffness Joints","display_name":"A Novel Underactuated Robotic Finger with Variable Stiffness Joints","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980296433","doi":"https://doi.org/10.1109/embc.2019.8857405","mag":"2980296433","pmid":"https://pubmed.ncbi.nlm.nih.gov/31947054"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2019.8857405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","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/A5033500800","display_name":"Zhicheng Teng","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhicheng Teng","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002974343","display_name":"Guanghua Xu","orcid":"https://orcid.org/0000-0002-7409-4068"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghua Xu","raw_affiliation_strings":["State Key Laboratory for Manufacturing Systems Engineering, School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","State Key Laboratory for Manufacturing Systems Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031591721","display_name":"Renghao Liang","orcid":"https://orcid.org/0000-0002-1974-7521"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renghao Liang","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057226230","display_name":"Min Li","orcid":"https://orcid.org/0000-0002-2959-9147"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Li","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101933468","display_name":"Sicong Zhang","orcid":"https://orcid.org/0000-0002-0279-8939"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicong Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016393109","display_name":"Tangfei Tao","orcid":"https://orcid.org/0000-0001-6249-2408"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tangfei Tao","raw_affiliation_strings":["School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5033500800"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.12501855,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"2019","issue":null,"first_page":"5305","last_page":"5309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994000196456909,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9962999820709229,"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/underactuation","display_name":"Underactuation","score":0.8604694604873657},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7045964002609253},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6974709033966064},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.6576202511787415},{"id":"https://openalex.org/keywords/finger-joint","display_name":"Finger joint","score":0.6279492378234863},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6024376153945923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5208675861358643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.518404483795166},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.494795024394989},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.484161913394928},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4772903025150299},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.45991718769073486},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4254094064235687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3668898642063141},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33894801139831543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3260350227355957},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23405852913856506},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19306668639183044},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.08725166320800781},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06445738673210144}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8604694604873657},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7045964002609253},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6974709033966064},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.6576202511787415},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.6279492378234863},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6024376153945923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5208675861358643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.518404483795166},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.494795024394989},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.484161913394928},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4772903025150299},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.45991718769073486},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4254094064235687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3668898642063141},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33894801139831543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3260350227355957},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23405852913856506},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19306668639183044},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08725166320800781},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06445738673210144},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019736","descriptor_name":"Prostheses and Implants","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019736","descriptor_name":"Prostheses and Implants","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019736","descriptor_name":"Prostheses and Implants","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055672","descriptor_name":"Static Electricity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055672","descriptor_name":"Static Electricity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055672","descriptor_name":"Static Electricity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2019.8857405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:31947054","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31947054","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}],"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/W1888892744","https://openalex.org/W1975260809","https://openalex.org/W1984999629","https://openalex.org/W1990718137","https://openalex.org/W2043956120","https://openalex.org/W2044000204","https://openalex.org/W2048644448","https://openalex.org/W2053438251","https://openalex.org/W2054098571","https://openalex.org/W2063149136","https://openalex.org/W2084519214","https://openalex.org/W2096231443","https://openalex.org/W2123062563","https://openalex.org/W2138166085","https://openalex.org/W2155337985","https://openalex.org/W2162556257","https://openalex.org/W2294293778","https://openalex.org/W2296944518","https://openalex.org/W2564472867","https://openalex.org/W2623551786","https://openalex.org/W2626557286","https://openalex.org/W2658532827","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286","https://openalex.org/W2509658230","https://openalex.org/W2372596258","https://openalex.org/W4399557464","https://openalex.org/W4312614647"],"abstract_inverted_index":{"Existing":[0],"robotic":[1,29],"hands":[2],"mostly":[3],"consist":[4],"of":[5,57,72,121],"rigid":[6],"finger":[7,30,38,46,93,127],"mechanism":[8],"with":[9,31],"constant":[10],"joint":[11,106],"stiffness,":[12],"leading":[13],"to":[14,67,95],"poor":[15],"handling":[16],"performance":[17],"and":[18,40,86,134],"even":[19],"unexpected":[20],"safety":[21],"issues.":[22],"This":[23],"paper":[24],"proposed":[25,45,125],"a":[26,91,109],"novel":[27,126],"underactuated":[28],"variable":[32,98],"stiffness":[33,99,107],"joints":[34],"based":[35],"on":[36],"human":[37,74],"anatomy":[39],"electrostatic":[41],"adhesion(ESA)":[42],"principle.":[43],"The":[44,124],"is":[47,77],"unique":[48],"in":[49,131],"the":[50,69,73,97,105,113,119],"3D":[51],"printable":[52],"one-piece":[53],"body":[54],"structure":[55],"consisting":[56],"three":[58],"similar":[59],"joints,":[60],"actuated":[61],"by":[62,79],"only":[63],"one":[64],"linear":[65],"actuator":[66],"mimic":[68],"flexion/extension":[70],"movement":[71],"finger.":[75],"It":[76,101],"characterized":[78],"simple":[80],"actuation,":[81],"light":[82],"weight,":[83],"low":[84],"cost":[85],"compliant":[87],"grasp.":[88],"We":[89],"constructed":[90],"portable":[92],"prototype":[94],"investigate":[96],"performance.":[100],"turns":[102],"out":[103],"that":[104],"shows":[108],"growing":[110],"trend":[111],"as":[112],"applied":[114],"voltage":[115],"increases,":[116],"which":[117],"verifies":[118],"effectiveness":[120],"this":[122],"design.":[123],"indicates":[128],"potential":[129],"applications":[130],"service":[132],"robots":[133],"prosthetic":[135],"hands.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
