{"id":"https://openalex.org/W2785513282","doi":"https://doi.org/10.1109/icarm.2017.8273182","title":"LPSA underactuated mode of linearly parallel and self-adaptive grasping in the CLIS robot hand with Chebyshev linkage and idle stroke","display_name":"LPSA underactuated mode of linearly parallel and self-adaptive grasping in the CLIS robot hand with Chebyshev linkage and idle stroke","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2785513282","doi":"https://doi.org/10.1109/icarm.2017.8273182","mag":"2785513282"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2017.8273182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2017.8273182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5050220280","display_name":"Junjie Xu","orcid":"https://orcid.org/0000-0002-1549-693X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junjie Xu","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100303123","display_name":"Weidong Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089143","display_name":"Changzhou Vocational Institute of Light Industry","ror":"https://ror.org/005ysj118","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210089143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Liang","raw_affiliation_strings":["Guangzhou Light Industry Vocational School, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Light Industry Vocational School, Guangzhou, China","institution_ids":["https://openalex.org/I4210089143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026185827","display_name":"Jifeng Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089143","display_name":"Changzhou Vocational Institute of Light Industry","ror":"https://ror.org/005ysj118","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210089143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jifeng Cai","raw_affiliation_strings":["Guangzhou Light Industry Vocational School, Guangzhou, 510650, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Light Industry Vocational School, Guangzhou, 510650, China","institution_ids":["https://openalex.org/I4210089143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114020793","display_name":"Chenfeng Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089143","display_name":"Changzhou Vocational Institute of Light Industry","ror":"https://ror.org/005ysj118","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210089143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenfeng Yuan","raw_affiliation_strings":["Guangzhou Light Industry Vocational School, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Light Industry Vocational School, Guangzhou, China","institution_ids":["https://openalex.org/I4210089143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077769611","display_name":"Pei Yang","orcid":"https://orcid.org/0000-0003-2765-0401"},"institutions":[{"id":"https://openalex.org/I4210089143","display_name":"Changzhou Vocational Institute of Light Industry","ror":"https://ror.org/005ysj118","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210089143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei Yang","raw_affiliation_strings":["Guangzhou Light Industry Vocational School, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Light Industry Vocational School, Guangzhou, China","institution_ids":["https://openalex.org/I4210089143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075523533","display_name":"Baoying Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089143","display_name":"Changzhou Vocational Institute of Light Industry","ror":"https://ror.org/005ysj118","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210089143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoying Zeng","raw_affiliation_strings":["Guangzhou Light Industry Vocational School, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Light Industry Vocational School, Guangzhou, China","institution_ids":["https://openalex.org/I4210089143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102941157","display_name":"Wenzeng Zhang","orcid":"https://orcid.org/0000-0003-3537-147X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050220280"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.0058,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.78839458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"322","last_page":"327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.993399977684021,"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":0.7130586504936218},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5175813436508179},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.49851059913635254},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4972212612628937},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.49080905318260193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4517665207386017},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42275503277778625},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41116976737976074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3612433075904846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.285581111907959}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7130586504936218},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5175813436508179},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.49851059913635254},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4972212612628937},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.49080905318260193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4517665207386017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42275503277778625},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41116976737976074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3612433075904846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.285581111907959},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2017.8273182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2017.8273182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)","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":19,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W1987133432","https://openalex.org/W1998664098","https://openalex.org/W2029744358","https://openalex.org/W2033595964","https://openalex.org/W2038929402","https://openalex.org/W2080162897","https://openalex.org/W2097189012","https://openalex.org/W2118191877","https://openalex.org/W2121378538","https://openalex.org/W2134167019","https://openalex.org/W2143909231","https://openalex.org/W2149436826","https://openalex.org/W2155113159","https://openalex.org/W2161636262","https://openalex.org/W2162142021","https://openalex.org/W6630988379","https://openalex.org/W6681270142","https://openalex.org/W6684124824"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W2758944028","https://openalex.org/W2812482866"],"abstract_inverted_index":{"Traditional":[0],"finger":[1,108],"with":[2],"parallel":[3,47,123],"and":[4,48,127],"self-adaptive":[5,49],"grasping":[6,27,43,50,55,71,94,144],"mode":[7,44,56],"cannot":[8],"perform":[9],"a":[10,32,83],"linear":[11,18,115],"translation":[12,19],"of":[13,20,36,45,65,72,117],"its":[14],"distal":[15,22,67,74,78,118],"phalange.":[16],"The":[17,53,96],"the":[21,66,73,77,137],"phalange":[23,75],"is":[24,140],"useful":[25],"in":[26,60],"typical":[28],"objects":[29],"put":[30],"on":[31],"table":[33],"without":[34],"motion":[35,116],"manipulators.":[37],"This":[38,80],"paper":[39,81],"presents":[40,82],"an":[41],"underactuated":[42,85],"linearly":[46],"(LPSA":[51],"grasping).":[52],"LPSA":[54,93,143],"involves":[57],"two":[58,100,125],"stages":[59],"grasping:":[61],"1)":[62],"Linear":[63],"pinching":[64],"phalange;":[68],"2)":[69],"Self-adaptive":[70],"around":[76],"joint.":[79],"novel":[84],"robot":[86],"hand":[87,98,139],"(CLIS":[88],"hand),":[89],"which":[90],"can":[91],"achieve":[92],"mode.":[95,145],"CLIS":[97,138],"has":[99,109],"symmetrical":[101],"fingers":[102],"driven":[103],"by":[104],"one":[105],"motor.":[106],"Each":[107],"Chebyshev":[110],"four":[111],"linkages":[112],"to":[113],"make":[114],"joint,":[119],"gears":[120],"for":[121,131,142],"keeping":[122],"status,":[124],"springs":[126],"idle-stroke":[128],"transmission":[129],"mechanism":[130],"self-adaptation.":[132],"Experimental":[133],"results":[134],"show":[135],"that":[136],"valid":[141]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}