{"id":"https://openalex.org/W2973043770","doi":"https://doi.org/10.1109/icarm.2019.8834330","title":"CSB-II Hand: A Universal Griper with Circular Sliding Bars","display_name":"CSB-II Hand: A Universal Griper with Circular Sliding Bars","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2973043770","doi":"https://doi.org/10.1109/icarm.2019.8834330","mag":"2973043770"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8834330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8834330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th 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/A5040854060","display_name":"Bo Liang","orcid":"https://orcid.org/0000-0001-6977-7967"},"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"]},{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Liang","raw_affiliation_strings":["State Key Laboratory of Tribology, the Key Laboratory for Advanced Materials Processing Technology (MOE), and the Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, the Key Laboratory for Advanced Materials Processing Technology (MOE), and the Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"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/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"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":["State Key Laboratory of Tribology, the Key Laboratory for Advanced Materials Processing Technology (MOE), and the Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, the Key Laboratory for Advanced Materials Processing Technology (MOE), and the Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040854060"],"corresponding_institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.10773367,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"727","last_page":"731"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"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":0.9781000018119812,"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/rope","display_name":"Rope","score":0.6217073202133179},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6111904978752136},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.49956560134887695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4973171055316925},{"id":"https://openalex.org/keywords/arc","display_name":"Arc (geometry)","score":0.4703429341316223},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46899011731147766},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4545532763004303},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.42409518361091614},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.41051024198532104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33416154980659485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3306272029876709},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20450395345687866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14919418096542358},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14060813188552856},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13885658979415894},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1261887550354004},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09908410906791687}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.6217073202133179},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6111904978752136},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.49956560134887695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4973171055316925},{"id":"https://openalex.org/C83415579","wikidata":"https://www.wikidata.org/wiki/Q161973","display_name":"Arc (geometry)","level":2,"score":0.4703429341316223},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46899011731147766},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4545532763004303},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42409518361091614},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.41051024198532104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33416154980659485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3306272029876709},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20450395345687866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14919418096542358},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14060813188552856},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13885658979415894},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1261887550354004},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09908410906791687},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/icarm.2019.8834330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8834330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6200000047683716,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1651294297","https://openalex.org/W1983463109","https://openalex.org/W1999375810","https://openalex.org/W2084832944","https://openalex.org/W2139990746","https://openalex.org/W2149436826","https://openalex.org/W2159717066","https://openalex.org/W2343757578","https://openalex.org/W2564265104","https://openalex.org/W2776177362","https://openalex.org/W2919654244","https://openalex.org/W2921835605","https://openalex.org/W6682196929"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"Because":[0],"of":[1,19,30,90,124,133,158,172,203,222,247,250,261],"its":[2],"excellent":[3],"discrete":[4],"adaptive":[5,12,212],"grasping":[6,20,56,170,213],"function,":[7],"the":[8,17,48,55,59,71,88,93,112,125,130,134,144,150,155,159,173,204,218,228,245,262],"sliding":[9,42,67,78,122,126,131,136,152],"bar":[10,68],"array":[11],"robot":[13,251],"hand":[14,65,161,178,224,257],"can":[15,208,238],"reduce":[16],"difficulty":[18],"planning":[21],"in":[22,105,154],"unstructured":[23],"unknown":[24],"environment,":[25],"and":[26,47,74,128,149,193,227],"has":[27,33,75],"strong":[28],"versatility":[29],"grasping,":[31,192],"which":[32,80,108,167,207,237],"attracted":[34],"much":[35],"attention.":[36],"We":[37],"have":[38],"developed":[39],"an":[40],"arc":[41,66,135,156],"rod":[43,127,137],"manipulator":[44],"CSB-II":[45,91,177,223,256],"hand,":[46,92,107,269],"improvement":[49],"is":[50,81,97,147,225,235],"based":[51],"on":[52,58],"further":[53,254],"enlarging":[54],"range":[57,132],"CSB-I":[60,64,106,160],"hand.":[61,252],"The":[62],"traditional":[63],"cannot":[69],"exceed":[70],"central":[72],"plane":[73],"a":[76,184,200,242],"small":[77],"range,":[79],"disadvantageous":[82],"to":[83,102,164,189,198],"grasp":[84],"non-centered":[85],"objects.":[86],"In":[87,142,215],"design":[89,220,246],"main":[94],"drive":[95,197],"shaft":[96],"changed":[98],"from":[99],"vertical":[100],"direction":[101,104],"horizontal":[103],"not":[109],"only":[110],"makes":[111],"tendon":[113,195],"rope":[114,196],"winding":[115],"more":[116,139],"reasonable,":[117],"but":[118],"also":[119],"frees":[120],"up":[121],"space":[123],"enlarges":[129],"by":[138],"than":[140],"30%.":[141],"addition,":[143],"overall":[145],"arrangement":[146],"optimized,":[148],"multi-group":[151,180],"rods":[153],"alignment":[157],"are":[162],"adjusted":[163],"matrix":[165],"arrangement,":[166],"obtains":[168],"better":[169,210],"effect":[171],"flat":[174],"clamp.":[175],"Fruit.":[176],"drives":[179],"finger":[181],"clusters":[182],"with":[183],"single":[185],"motor,":[186],"uses":[187,194],"springs":[188],"achieve":[190,199,209],"fast":[191],"unified":[201],"restoration":[202],"original":[205],"state,":[206],"off-line":[211],"effect.":[214],"this":[216,248],"paper,":[217],"detailed":[219],"scheme":[221],"given,":[226],"functional":[229],"relationship":[230],"among":[231],"several":[232],"key":[233],"parameters":[234],"analyzed,":[236],"be":[239],"used":[240],"as":[241],"reference":[243],"for":[244,265,271],"kind":[249],"After":[253],"improvement,":[255],"may":[258],"become":[259],"one":[260],"important":[263],"schemes":[264],"future":[266],"special":[267],"robotic":[268,273],"especially":[270],"flexible":[272],"production":[274],"lines":[275],"requiring":[276],"universal":[277],"grasping.":[278]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}