{"id":"https://openalex.org/W2014374599","doi":"https://doi.org/10.1109/humanoids.2013.7029994","title":"Virtual prototyping and control of a dexterous hand","display_name":"Virtual prototyping and control of a dexterous hand","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2014374599","doi":"https://doi.org/10.1109/humanoids.2013.7029994","mag":"2014374599"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2013.7029994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7029994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","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/A5111987034","display_name":"Yang Qian","orcid":"https://orcid.org/0000-0003-3575-0533"},"institutions":[{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Yang Qian","raw_affiliation_strings":["LAGIS, Ecole Centrale de Lille, Villeneuve d\u2019 Ascq, France","LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, 59650 Villeneuve d'Ascq, France"],"affiliations":[{"raw_affiliation_string":"LAGIS, Ecole Centrale de Lille, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I7454413"]},{"raw_affiliation_string":"LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, 59650 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I4210143894","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063094001","display_name":"Ahmed Rahmani","orcid":"https://orcid.org/0000-0002-3871-4717"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Rahmani","raw_affiliation_strings":["LAGIS, Ecole Centrale de Lille, Villeneuve d\u2019 Ascq, France","LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, 59650 Villeneuve d'Ascq, France"],"affiliations":[{"raw_affiliation_string":"LAGIS, Ecole Centrale de Lille, Villeneuve d\u2019 Ascq, France","institution_ids":["https://openalex.org/I7454413"]},{"raw_affiliation_string":"LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, 59650 Villeneuve d'Ascq, France","institution_ids":["https://openalex.org/I7454413","https://openalex.org/I4210143894","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111987034"],"corresponding_institution_ids":["https://openalex.org/I7454413","https://openalex.org/I4210143894","https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09437889,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"323","last_page":"328"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987000226974487,"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/computer-science","display_name":"Computer science","score":0.6756120324134827},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6524593830108643},{"id":"https://openalex.org/keywords/virtual-prototyping","display_name":"Virtual prototyping","score":0.6258173584938049},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6204203963279724},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6140936613082886},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.5751115083694458},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5008344650268555},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4787437319755554},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46466147899627686},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4516512453556061},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4453830122947693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27298101782798767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22978678345680237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10018220543861389},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08005955815315247}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6756120324134827},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6524593830108643},{"id":"https://openalex.org/C2780991453","wikidata":"https://www.wikidata.org/wiki/Q3408177","display_name":"Virtual prototyping","level":2,"score":0.6258173584938049},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6204203963279724},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6140936613082886},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.5751115083694458},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5008344650268555},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4787437319755554},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46466147899627686},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4516512453556061},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4453830122947693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27298101782798767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22978678345680237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10018220543861389},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08005955815315247},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2013.7029994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7029994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W585670370","https://openalex.org/W1555601014","https://openalex.org/W1609314034","https://openalex.org/W1901378578","https://openalex.org/W1969506947","https://openalex.org/W2002433211","https://openalex.org/W2049415372","https://openalex.org/W2061343052","https://openalex.org/W2071572887","https://openalex.org/W2134167019","https://openalex.org/W2144573888","https://openalex.org/W2159717066","https://openalex.org/W4234100982","https://openalex.org/W6651039665","https://openalex.org/W6668232559"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W2088250263","https://openalex.org/W4387103257","https://openalex.org/W2018404669"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,48],"multi-fingered":[4],"hand":[5,17,76,115],"and":[6,45,64,91,111],"control":[8,37,66],"system":[9,33,116],"intended":[10],"for":[11],"research":[12],"in":[13],"dexterous":[14,75],"manipulation.":[15],"The":[16,28,103],"is":[18,34,55,81],"based":[19],"on":[20],"an":[21],"anthropomorphic":[22],"configuration":[23],"with":[24],"five":[25],"identical":[26],"fingers.":[27],"dynamics":[29],"of":[30,61,73,95,113],"the":[31,53,59,62,65,70,74,84,92,96,108,114],"hand-object":[32],"established.":[35],"A":[36,79],"scheme":[38],"to":[39,52],"ensure":[40],"firm":[41],"grip,":[42],"avoid":[43],"slippage":[44],"well":[46],"track":[47],"given":[49],"motion":[50],"imposed":[51],"object":[54,71],"designed.":[56],"To":[57],"verify":[58],"reasonableness":[60],"design":[63],"scheme,":[67],"we":[68],"simulate":[69],"manipulation":[72],"using":[77],"Adams.":[78,102],"comparison":[80],"made":[82],"between":[83],"calculated":[85],"results":[86,94,105],"carried":[87],"out":[88],"by":[89,101],"Matlab":[90],"operation":[93],"virtual":[97],"simulation":[98,104],"model":[99],"established":[100],"validate":[106],"that":[107],"basic":[109],"functionality":[110],"requirements":[112],"are":[117],"achieved.":[118]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
