{"id":"https://openalex.org/W4313562924","doi":"https://doi.org/10.1109/humanoids53995.2022.10000125","title":"Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product","display_name":"Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313562924","doi":"https://doi.org/10.1109/humanoids53995.2022.10000125"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000125","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5088940322","display_name":"Hiroki Aoyama","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Aoyama","raw_affiliation_strings":["Graduate School of Science and Engineering, Ritsumeikan University,Kusatsu,Shiga,Japan,525\u20138577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Ritsumeikan University,Kusatsu,Shiga,Japan,525\u20138577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067013129","display_name":"Zhongkui Wang","orcid":"https://orcid.org/0000-0003-4037-3306"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhongkui Wang","raw_affiliation_strings":["Ritsumeikan University,Department of Robotics,Kusatsu,Shiga,Japan,525\u20138577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Department of Robotics,Kusatsu,Shiga,Japan,525\u20138577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035821807","display_name":"Shinichi Hirai","orcid":"https://orcid.org/0000-0001-6076-0237"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Hirai","raw_affiliation_strings":["Ritsumeikan University,Department of Robotics,Kusatsu,Shiga,Japan,525\u20138577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Department of Robotics,Kusatsu,Shiga,Japan,525\u20138577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"90","last_page":"95"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"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/silicone-rubber","display_name":"Silicone rubber","score":0.7493273019790649},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7320637106895447},{"id":"https://openalex.org/keywords/shell","display_name":"Shell (structure)","score":0.6934295892715454},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6236226558685303},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5585656762123108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4256439507007599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4244846701622009},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3501887321472168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30327659845352173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28386086225509644},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.27307790517807007},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1346644163131714}],"concepts":[{"id":"https://openalex.org/C2776290925","wikidata":"https://www.wikidata.org/wiki/Q4115245","display_name":"Silicone rubber","level":2,"score":0.7493273019790649},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7320637106895447},{"id":"https://openalex.org/C2781052500","wikidata":"https://www.wikidata.org/wiki/Q2230313","display_name":"Shell (structure)","level":2,"score":0.6934295892715454},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6236226558685303},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5585656762123108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4256439507007599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4244846701622009},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3501887321472168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30327659845352173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28386086225509644},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.27307790517807007},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1346644163131714},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000125","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","score":0.6800000071525574,"display_name":"Zero hunger"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2080398024","https://openalex.org/W2127966735","https://openalex.org/W2154963933","https://openalex.org/W2164626235","https://openalex.org/W2166585449","https://openalex.org/W2546575820","https://openalex.org/W2560591998","https://openalex.org/W2586716914","https://openalex.org/W2619272866","https://openalex.org/W2623551786","https://openalex.org/W2911010841","https://openalex.org/W2922426839","https://openalex.org/W2946846529","https://openalex.org/W2991454103","https://openalex.org/W2999228329","https://openalex.org/W3003716674","https://openalex.org/W3030285994","https://openalex.org/W3048356206","https://openalex.org/W3080591218","https://openalex.org/W3114045596","https://openalex.org/W3115114331","https://openalex.org/W3161893798","https://openalex.org/W3178538552","https://openalex.org/W4205919707","https://openalex.org/W4205996330"],"related_works":["https://openalex.org/W1516164006","https://openalex.org/W3214506804","https://openalex.org/W3004630325","https://openalex.org/W2896014631","https://openalex.org/W4312985843","https://openalex.org/W101285955","https://openalex.org/W1814204781","https://openalex.org/W2897740410","https://openalex.org/W3115796548","https://openalex.org/W4313562924"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,38,178],"end-effectors":[2,13],"have":[3,25],"been":[4,27],"developed":[5],"for":[6],"grasping":[7,89,161],"food":[8],"and":[9,57,74,94,110,172],"agricultural":[10,18],"products.":[11],"However,":[12],"that":[14,124,175],"can":[15,61,83,180],"package":[16,182],"multiple":[17,47,53,183],"products":[19],"simultaneously":[20],"in":[21],"a":[22,37,71,75,88,120],"clustered":[23],"scenario":[24],"not":[26],"studied":[28],"frequently":[29],"so":[30],"far.":[31],"In":[32],"this":[33,136],"paper,":[34],"we":[35,118,140],"propose":[36],"end-effector":[39,50,179],"capable":[40],"of":[41,52,59,70,105,128,147],"performing":[42],"such":[43],"packaging":[44,167],"task":[45],"on":[46,166],"cucumbers.":[48],"The":[49,65,151],"consists":[51,104],"thin":[54],"shell":[55,66,73,116,149],"grippers":[56],"each":[58],"them":[60],"grasp":[62],"one":[63],"cucumber.":[64],"gripper":[67],"is":[68],"composed":[69],"rigid":[72,106],"soft":[76,81,111],"membrane.":[77],"Upon":[78],"pressurization,":[79],"the":[80,115,126,145,148,160,176],"membrane":[82,152],"be":[84],"inflated":[85],"to":[86,135,143,158],"realize":[87],"motion.":[90],"This":[91],"hybrid":[92],"(rigid":[93],"soft)":[95],"structure":[96],"was":[97,155],"inspired":[98],"by":[99],"human":[100],"finger":[101],"structure,":[102],"which":[103],"bone":[107],"or":[108],"nail":[109],"tissue.":[112],"For":[113],"fabricating":[114],"gripper,":[117],"proposed":[119,177],"demolding-free":[121],"casting":[122],"method":[123],"eliminates":[125],"need":[127],"removing":[129],"silicone":[130],"rubber":[131],"from":[132],"mold.":[133],"Thanks":[134],"new":[137],"fabrication":[138],"method,":[139],"are":[141],"able":[142],"minimize":[144],"thickness":[146],"gripper.":[150],"inflation":[153],"displacement":[154],"experimentally":[156],"measured":[157],"confirm":[159],"ability.":[162],"Finally,":[163],"field":[164],"tests":[165],"nine":[168],"cucumbers":[169,184],"were":[170],"conducted":[171],"results":[173],"validated":[174],"stably":[181],"simultaneously.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}