{"id":"https://openalex.org/W4312818091","doi":"https://doi.org/10.1109/icarm54641.2022.9959623","title":"A Quasi-Direct Drive Robot Hand for Reactive and Contact-rich Manipulations","display_name":"A Quasi-Direct Drive Robot Hand for Reactive and Contact-rich Manipulations","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W4312818091","doi":"https://doi.org/10.1109/icarm54641.2022.9959623"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959623","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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 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/A5088653212","display_name":"Shiyuan Lin","orcid":"https://orcid.org/0009-0009-4525-5801"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shiyuan Lin","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026748536","display_name":"Yuntian Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuntian Zhao","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100748871","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0002-0149-0473"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhu","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088653212"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.7078,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65813953,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"180","last_page":"186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9994000196456909,"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":0.9991000294685364,"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/overheating","display_name":"Overheating (electricity)","score":0.7302381992340088},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.682172954082489},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6658310294151306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568945407867432},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5352678298950195},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5147252082824707},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5117323398590088},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4374181628227234},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.43725624680519104},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4078066349029541},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3669580817222595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2673741579055786},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06902623176574707}],"concepts":[{"id":"https://openalex.org/C2778284599","wikidata":"https://www.wikidata.org/wiki/Q25340000","display_name":"Overheating (electricity)","level":2,"score":0.7302381992340088},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.682172954082489},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6658310294151306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568945407867432},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5352678298950195},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5147252082824707},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5117323398590088},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4374181628227234},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.43725624680519104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4078066349029541},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3669580817222595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2673741579055786},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06902623176574707},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959623","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","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 International Conference on Advanced Robotics and Mechatronics (ICARM)","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":12,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1714102945","https://openalex.org/W1971688004","https://openalex.org/W2090696184","https://openalex.org/W2095852913","https://openalex.org/W2573227850","https://openalex.org/W2943200793","https://openalex.org/W2963446658","https://openalex.org/W2966960409","https://openalex.org/W2968213087","https://openalex.org/W4240536764","https://openalex.org/W4252031641"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2380377017","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W1811598931","https://openalex.org/W1926827207"],"abstract_inverted_index":{"Proprioceptive":[0],"actuation,":[1],"which":[2,45],"includes":[3],"direct-drive":[4],"(DD)":[5],"and":[6,26,39,94,103,114],"quasi-direct-drive":[7],"(QDD),":[8],"has":[9],"achieved":[10],"great":[11,22,133],"success":[12],"in":[13,24,135,141],"the":[14,80,85,92,119],"legged":[15],"robots":[16],"community":[17],"recently.":[18],"It":[19],"also":[20],"shows":[21],"potential":[23],"reactive":[25],"contact-rich":[27],"manipulations.":[28],"However,":[29],"it":[30],"suffers":[31],"from":[32],"critical":[33],"problems":[34],"such":[35],"as":[36],"motor":[37],"overheating":[38,84],"unacceptable":[40],"low":[41],"firm":[42],"grasping":[43,74],"force,":[44],"prevents":[46],"its":[47],"further":[48],"applications.":[49],"To":[50],"solve":[51],"these":[52],"problems,":[53],"this":[54],"paper":[55],"presents":[56],"a":[57,137],"novel":[58],"QDD":[59],"hand":[60,143],"design":[61,131],"with":[62],"an":[63,109],"innovative":[64],"hybrid":[65],"drive":[66],"mechanism":[67],"that":[68,128],"can":[69],"take":[70],"full":[71],"advantage":[72],"of":[73,121],"mode":[75],"characteristics,":[76],"thereby":[77],"significantly":[78],"increasing":[79],"grasp":[81],"force":[82,99],"without":[83],"motor.":[86],"We":[87,107],"present":[88],"detailed":[89],"design,":[90],"formulate":[91],"kinematics":[93],"dynamics":[95],"modeling,":[96],"investigate":[97],"current-based":[98],"sensing":[100],"(proprioceptive":[101],"perception)":[102],"associated":[104],"control":[105],"strategies.":[106],"develop":[108],"integrated":[110],"robot":[111,142],"arm-hand":[112],"system":[113],"perform":[115],"experiments":[116],"to":[117],"validate":[118],"effectiveness":[120],"our":[122,129],"proposed":[123,130],"approach.":[124],"Experimental":[125],"results":[126],"indicate":[127],"holds":[132],"promise":[134],"leading":[136],"fundamental":[138],"paradigm":[139],"shift":[140],"design.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}