{"id":"https://openalex.org/W2913012393","doi":"https://doi.org/10.1109/humanoids.2018.8624990","title":"Synergy-Based, Data-Driven Generation of Object-Specific Grasps for Anthropomorphic Hands","display_name":"Synergy-Based, Data-Driven Generation of Object-Specific Grasps for Anthropomorphic Hands","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2913012393","doi":"https://doi.org/10.1109/humanoids.2018.8624990","mag":"2913012393"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8624990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8624990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","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/A5037077796","display_name":"Julia Starke","orcid":"https://orcid.org/0000-0002-0006-2370"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julia Starke","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014468304","display_name":"Christian Eichmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Eichmann","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065628082","display_name":"Simon Ottenhaus","orcid":"https://orcid.org/0000-0002-2904-6841"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Ottenhaus","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7493,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.74466456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"327","last_page":"333"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.996999979019165,"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":0.977400004863739,"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/grasp","display_name":"GRASP","score":0.9401894211769104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6744385957717896},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6529596447944641},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6516231298446655},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.6402155160903931},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6232839226722717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6220849752426147},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5133132338523865},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.5116367936134338},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48960191011428833},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44227632880210876},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4303925931453705},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.42096033692359924},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4139060080051422},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3871258497238159},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3706364035606384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22204378247261047},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.16560682654380798},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0776796042919159}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9401894211769104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6744385957717896},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6529596447944641},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6516231298446655},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.6402155160903931},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6232839226722717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6220849752426147},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5133132338523865},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.5116367936134338},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48960191011428833},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44227632880210876},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4303925931453705},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.42096033692359924},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4139060080051422},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3871258497238159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3706364035606384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22204378247261047},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.16560682654380798},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0776796042919159},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2018.8624990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8624990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1806263934","https://openalex.org/W1971674194","https://openalex.org/W2000661156","https://openalex.org/W2007804184","https://openalex.org/W2058124793","https://openalex.org/W2059385573","https://openalex.org/W2061933972","https://openalex.org/W2063732873","https://openalex.org/W2070787044","https://openalex.org/W2076215121","https://openalex.org/W2078626246","https://openalex.org/W2088029896","https://openalex.org/W2089213561","https://openalex.org/W2104699355","https://openalex.org/W2106215490","https://openalex.org/W2113028304","https://openalex.org/W2118040554","https://openalex.org/W2130007788","https://openalex.org/W2141049796","https://openalex.org/W2144573888","https://openalex.org/W2145911037","https://openalex.org/W2154006563","https://openalex.org/W2164575107","https://openalex.org/W2170940415","https://openalex.org/W2177066871","https://openalex.org/W2261736307","https://openalex.org/W2460926736","https://openalex.org/W2563008547","https://openalex.org/W2909980200","https://openalex.org/W2963669118","https://openalex.org/W3099587965"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W3035867307","https://openalex.org/W2157487448","https://openalex.org/W2613999385","https://openalex.org/W2387707337","https://openalex.org/W2078568084","https://openalex.org/W4200004409","https://openalex.org/W143055317"],"abstract_inverted_index":{"Building":[0],"anthropomorphic":[1,144],"robotic":[2],"and":[3,13,104,128],"prosthetic":[4],"hands":[5,25],"is":[6,20,44],"a":[7,31,56,75,80,98,113],"challenging":[8],"task":[9],"due":[10],"to":[11,26,37,55,66,140],"size":[12,106],"performance":[14],"requirements.":[15],"As":[16],"of":[17,30,47,58,70,101,107,116,132,143],"today":[18],"it":[19],"impossible":[21],"for":[22],"such":[23],"artificial":[24],"mimic":[27],"the":[28,39,45,105,108,141],"capabilities":[29],"human":[32,71],"hand.":[33],"A":[34],"popular":[35],"approach":[36],"reduce":[38],"complexity":[40],"in":[41],"hand":[42,48],"design":[43],"realization":[46],"synergies":[49,69],"through":[50],"underactuated":[51],"mechanism,":[52],"leading":[53],"also":[54],"reduction":[57],"control":[59,142],"complexity.":[60],"In":[61,119],"this":[62],"paper":[63],"we":[64,121],"aim":[65],"find":[67],"grasp":[68,81,102,117,129],"grasps":[72,88],"by":[73],"employing":[74],"deep":[76],"autoencoder.":[77],"We":[78],"perform":[79],"study":[82],"with":[83],"15":[84],"subjects":[85],"including":[86],"2250":[87],"on":[89,123,126],"35":[90],"diverse":[91],"objects.":[92],"The":[93],"emerging":[94],"latent":[95],"space":[96],"contains":[97],"comprehensive":[99],"representation":[100],"type":[103],"grasped":[109],"object,":[110],"while":[111],"preserving":[112],"large":[114],"amount":[115],"information.":[118],"addition":[120],"report":[122],"novel":[124],"findings":[125],"couplings":[127],"specific":[130],"features":[131],"joint":[133],"kinematics,":[134],"which":[135],"can":[136],"be":[137],"directly":[138],"applied":[139],"hands.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}