{"id":"https://openalex.org/W7161796888","doi":"https://doi.org/10.1109/icarsc70216.2026.11523234","title":"Fin Ray Effect Soft Grippers: Force\u2013Displacement Testing Across Different Geometries","display_name":"Fin Ray Effect Soft Grippers: Force\u2013Displacement Testing Across Different Geometries","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7161796888","doi":"https://doi.org/10.1109/icarsc70216.2026.11523234"},"language":null,"primary_location":{"id":"doi:10.1109/icarsc70216.2026.11523234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc70216.2026.11523234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5113426339","display_name":"Luan Lang","orcid":"https://orcid.org/0000-0002-2857-3092"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luan Lang","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011784910","display_name":"Rodrigo Antunes","orcid":"https://orcid.org/0000-0002-1878-382X"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Antunes","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085353957","display_name":"Martim Lima de Aguiar","orcid":"https://orcid.org/0000-0003-0672-0378"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Martim Lima de Aguiar","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060304415","display_name":"Thiago Assis Dutra","orcid":"https://orcid.org/0000-0002-3576-5703"},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Thiago Assis Dutra","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121501001","display_name":"Nuno Pereira","orcid":null},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Pereira","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044390543","display_name":"Yebo Lu","orcid":"https://orcid.org/0000-0002-8995-370X"},"institutions":[{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yebo Lu","raw_affiliation_strings":["Jiaxing University,College of Mechanical Engineering,Jiaxing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiaxing University,College of Mechanical Engineering,Jiaxing,China","institution_ids":["https://openalex.org/I4210092870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136581444","display_name":"Pedro Dinis Gaspar","orcid":null},"institutions":[{"id":"https://openalex.org/I161321875","display_name":"University of Beira Interior","ror":"https://ror.org/03nf36p02","country_code":"PT","type":"education","lineage":["https://openalex.org/I161321875"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Dinis Gaspar","raw_affiliation_strings":["University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Beira Interior,C-MAST - Centre for Mechanical and Aerospace Science and Technologies,Covilhã,Portugal","institution_ids":["https://openalex.org/I161321875"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6277003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"27","last_page":"32"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.44429999589920044,"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":0.44429999589920044,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.2305999994277954,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.0949999988079071,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/fin","display_name":"Fin","score":0.3707999885082245},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.33570000529289246},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.2574999928474426},{"id":"https://openalex.org/keywords/intensity","display_name":"Intensity (physics)","score":0.2540000081062317},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.24879999458789825}],"concepts":[{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4887999892234802},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.3707999885082245},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.3538999855518341},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.33570000529289246},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C93038891","wikidata":"https://www.wikidata.org/wiki/Q1061524","display_name":"Intensity (physics)","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.24879999458789825},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.23569999635219574},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2313999980688095},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.21950000524520874}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc70216.2026.11523234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc70216.2026.11523234","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1983413949","https://openalex.org/W2007924815","https://openalex.org/W2080551943","https://openalex.org/W2156218502","https://openalex.org/W2560730116","https://openalex.org/W2784648116","https://openalex.org/W2907589952","https://openalex.org/W2959442911","https://openalex.org/W2963164265","https://openalex.org/W2999228329","https://openalex.org/W3022121975","https://openalex.org/W3037511334","https://openalex.org/W3046620763","https://openalex.org/W3132222787","https://openalex.org/W3196431492","https://openalex.org/W4300981940","https://openalex.org/W4311525166","https://openalex.org/W4319981986","https://openalex.org/W4323828408","https://openalex.org/W4386531676","https://openalex.org/W4387226998","https://openalex.org/W4387429503","https://openalex.org/W4398250730","https://openalex.org/W4401303838","https://openalex.org/W4401933255","https://openalex.org/W4403277012","https://openalex.org/W4406176025"],"related_works":[],"abstract_inverted_index":{"Handling":[0],"delicate":[1,143],"products":[2],"with":[3,142,156],"high":[4],"variability":[5],"in":[6,51],"shape":[7],"and":[8,31,38,43,60,82,102,121,137,147],"texture":[9],"remains":[10],"a":[11,54,61,67,90,94,166],"key":[12],"limitation":[13],"of":[14,58,70],"rigid":[15],"industrial":[16],"end-effectors.":[17],"This":[18,162],"paper":[19],"evaluates":[20],"three":[21],"Fin":[22],"Ray":[23],"Effect":[24],"(FRE)-inspired":[25],"soft":[26],"gripper":[27,100,170],"geometries:":[28],"Straight,":[29],"Beak,":[30],"Constant":[32,149],"Curve,":[33],"manufactured":[34],"by":[35],"3D":[36],"printing":[37],"assessed":[39],"through":[40],"coupled":[41],"numerical":[42],"experimental":[44],"analysis.":[45],"Finite":[46],"element":[47],"simulations":[48],"were":[49,87],"conducted":[50],"Ansys":[52],"using":[53,89],"hyperelastic":[55],"material":[56],"representation":[57],"TPU,":[59],"cylindrical":[62],"object":[63],"was":[64],"subjected":[65],"to":[66,76,172],"prescribed":[68],"displacement":[69],"50":[71],"mm":[72],"under":[73],"low-friction":[74],"contact":[75,159],"quantify":[77],"deformation":[78],"patterns,":[79],"stress/strain":[80],"fields,":[81],"reaction":[83,119],"forces.":[84],"Experimental":[85],"tests":[86],"performed":[88],"dedicated":[91],"fixture":[92],"on":[93],"universal":[95],"testing":[96],"machine,":[97],"replicating":[98],"the":[99,113,117,130,134,148],"arrangement":[101],"measuring":[103],"force\u2013displacement":[104],"response":[105],"for":[106,125,168],"cross-validation.":[107],"Results":[108],"show":[109],"clear":[110],"geometry-dependent":[111],"trade-offs:":[112],"Straight":[114],"design":[115,132,151,171],"delivers":[116],"highest":[118],"force":[120,136],"is":[122],"therefore":[123],"suitable":[124],"tasks":[126],"requiring":[127],"firmer":[128],"retention;":[129],"Beak":[131],"provides":[133],"lowest":[135],"stress,":[138],"supporting":[139],"gentler":[140],"interaction":[141],"or":[144],"fragile":[145],"objects;":[146],"Curve":[150],"offers":[152],"an":[153],"intermediate":[154],"solution":[155],"more":[157],"uniform":[158],"pressure":[160],"distribution.":[161],"work":[163],"serves":[164],"as":[165],"foundation":[167],"optimising":[169],"improve":[173],"handling":[174],"capabilities":[175],"across":[176],"diverse":[177],"applications.":[178]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-05-21T00:00:00"}