{"id":"https://openalex.org/W1965282378","doi":"https://doi.org/10.1109/humanoids.2014.7041335","title":"A robot hand driven by hydraulic cluster actuators","display_name":"A robot hand driven by hydraulic cluster actuators","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W1965282378","doi":"https://doi.org/10.1109/humanoids.2014.7041335","mag":"1965282378"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041335","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5113812630","display_name":"Tianyi KANG","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tianyi Kang","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Kaminaga","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan#TAB#"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113812630"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.7473,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.70517098,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"39","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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":0.9994000196456909,"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/actuator","display_name":"Actuator","score":0.77616286277771},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.749004602432251},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6571231484413147},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.6268128156661987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5101202130317688},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5099180936813354},{"id":"https://openalex.org/keywords/hydraulic-motor","display_name":"Hydraulic motor","score":0.5015904903411865},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.45316755771636963},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.4529631435871124},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.4440076947212219},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3681301474571228},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35077640414237976},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3393457531929016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2535448670387268},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09813565015792847}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.77616286277771},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.749004602432251},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6571231484413147},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6268128156661987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5101202130317688},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5099180936813354},{"id":"https://openalex.org/C29450929","wikidata":"https://www.wikidata.org/wiki/Q3183265","display_name":"Hydraulic motor","level":2,"score":0.5015904903411865},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.45316755771636963},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.4529631435871124},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.4440076947212219},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3681301474571228},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35077640414237976},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3393457531929016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2535448670387268},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09813565015792847},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041335","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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":16,"referenced_works":["https://openalex.org/W1596762193","https://openalex.org/W1966035309","https://openalex.org/W1971609423","https://openalex.org/W1975230295","https://openalex.org/W2077152668","https://openalex.org/W2102762991","https://openalex.org/W2105168805","https://openalex.org/W2113968856","https://openalex.org/W2122827816","https://openalex.org/W2124641719","https://openalex.org/W2134805236","https://openalex.org/W2139086916","https://openalex.org/W2160686985","https://openalex.org/W2541894311","https://openalex.org/W6635752115","https://openalex.org/W6728751708"],"related_works":["https://openalex.org/W2965049960","https://openalex.org/W2245035613","https://openalex.org/W4390444146","https://openalex.org/W2932706046","https://openalex.org/W2044081670","https://openalex.org/W2350580455","https://openalex.org/W4313562988","https://openalex.org/W2960048462","https://openalex.org/W2393923126","https://openalex.org/W2357110667"],"abstract_inverted_index":{"To":[0],"enable":[1],"a":[2,20,24,29,49],"humanoid":[3],"robot":[4,25],"to":[5],"use":[6],"its":[7],"hand":[8,26],"in":[9,79],"the":[10,80],"whole":[11],"body":[12],"motions,":[13],"such":[14,65],"as":[15,66],"hanging,":[16],"climbing":[17],"or":[18],"using":[19],"ladder,":[21],"we":[22],"developed":[23],"driven":[27],"by":[28],"powerful":[30],"but":[31],"backdrivable":[32],"cluster":[33],"EHA.":[34],"A":[35,85],"miniature":[36],"crescent":[37],"trochoid":[38],"pump":[39],"with":[40,54],"high":[41],"discharging":[42],"pressure":[43],"was":[44],"developed.":[45],"The":[46],"design":[47],"of":[48,62,82,87],"direct":[50],"casted":[51],"cylinder":[52],"manifold":[53],"low":[55],"hydraulic":[56],"friction":[57],"is":[58,90],"also":[59,91],"presented.":[60],"Results":[61],"basic":[63],"experiments":[64],"maximum":[67],"output":[68],"force,":[69],"speed,":[70],"position":[71],"and":[72,75],"force":[73],"controllability":[74],"backdrivability":[76],"are":[77],"shown":[78],"end":[81],"this":[83],"paper.":[84],"movie":[86],"grasping":[88],"demonstration":[89],"attached.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
