{"id":"https://openalex.org/W3005717587","doi":"https://doi.org/10.1109/iccma46720.2019.8988671","title":"Soft Jamming Gripper with the External Prominence of Membrane for Human-Robot Cooperation","display_name":"Soft Jamming Gripper with the External Prominence of Membrane for Human-Robot Cooperation","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3005717587","doi":"https://doi.org/10.1109/iccma46720.2019.8988671","mag":"3005717587"},"language":"en","primary_location":{"id":"doi:10.1109/iccma46720.2019.8988671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccma46720.2019.8988671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","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/A5031927765","display_name":"Rasool Shahsevani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Rasool Shahsevani","raw_affiliation_strings":["Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg (FAU),Institute for Factory Automation and Production Systems (FAPS),Erlangen,Germany,91058","Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Erlangen, Germany"],"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg (FAU),Institute for Factory Automation and Production Systems (FAPS),Erlangen,Germany,91058","institution_ids":["https://openalex.org/I4210139350"]},{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Erlangen, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035932628","display_name":"Sebastian Reitelsh\u00f6fer","orcid":"https://orcid.org/0000-0002-4472-0208"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]},{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Reitelsh\u00f6fer","raw_affiliation_strings":["Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg (FAU),Institute for Factory Automation and Production Systems (FAPS),Erlangen,Germany,91058","Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Erlangen, Germany"],"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg (FAU),Institute for Factory Automation and Production Systems (FAPS),Erlangen,Germany,91058","institution_ids":["https://openalex.org/I4210139350"]},{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Erlangen, Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030095007","display_name":"Reza Alimardani","orcid":"https://orcid.org/0000-0002-9756-3373"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Reza Alimardani","raw_affiliation_strings":["University of Tehran (UT),Tehran,Iran","University of Tehran (UT), Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"University of Tehran (UT),Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"University of Tehran (UT), Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059197069","display_name":"J\u00f6rg Franke","orcid":"https://orcid.org/0000-0003-0700-2028"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]},{"id":"https://openalex.org/I4210139350","display_name":"Fraunhofer Institute for Factory Operation and Automation","ror":"https://ror.org/04qfaak15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210139350","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00f6rg Franke","raw_affiliation_strings":["Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg (FAU),Institute for Factory Automation and Production Systems (FAPS),Erlangen,Germany,91058","Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Erlangen, Germany"],"affiliations":[{"raw_affiliation_string":"Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg (FAU),Institute for Factory Automation and Production Systems (FAPS),Erlangen,Germany,91058","institution_ids":["https://openalex.org/I4210139350"]},{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg (FAU), Erlangen, Germany","institution_ids":["https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031927765"],"corresponding_institution_ids":["https://openalex.org/I181369854","https://openalex.org/I4210139350"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.17181083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"2019","issue":null,"first_page":"377","last_page":"383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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":0.9991999864578247,"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/grippers","display_name":"Grippers","score":0.9071173667907715},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.8221976161003113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7100470662117004},{"id":"https://openalex.org/keywords/membrane","display_name":"Membrane","score":0.569471538066864},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5567606091499329},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5159250497817993},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5061666369438171},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.49953651428222656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4544615149497986},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.44741809368133545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4386330246925354},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.41187992691993713},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4048049747943878},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10737103223800659},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06131395697593689}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9071173667907715},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8221976161003113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7100470662117004},{"id":"https://openalex.org/C41625074","wikidata":"https://www.wikidata.org/wiki/Q176088","display_name":"Membrane","level":2,"score":0.569471538066864},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5567606091499329},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5159250497817993},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5061666369438171},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.49953651428222656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4544615149497986},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.44741809368133545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4386330246925354},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.41187992691993713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4048049747943878},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10737103223800659},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06131395697593689},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iccma46720.2019.8988671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccma46720.2019.8988671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","raw_type":"proceedings-article"},{"id":"mag:3160686215","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002259565322248","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1987956829","https://openalex.org/W2007924815","https://openalex.org/W2008751812","https://openalex.org/W2022024011","https://openalex.org/W2029744358","https://openalex.org/W2036723211","https://openalex.org/W2072293370","https://openalex.org/W2087152869","https://openalex.org/W2095433260","https://openalex.org/W2096848392","https://openalex.org/W2105678189","https://openalex.org/W2169892430","https://openalex.org/W2544013339","https://openalex.org/W2561931395","https://openalex.org/W2596891723","https://openalex.org/W2784648116","https://openalex.org/W2898915881","https://openalex.org/W6659519294"],"related_works":["https://openalex.org/W1501306699","https://openalex.org/W4376605790","https://openalex.org/W4298095203","https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W4312473168","https://openalex.org/W2908594317","https://openalex.org/W2326585759","https://openalex.org/W4211124276","https://openalex.org/W3206105843"],"abstract_inverted_index":{"Designing":[0],"grippers":[1],"as":[2,73],"robotic":[3,28,34,94],"hands":[4],"is":[5,19,54,60,90,154,182],"one":[6],"of":[7,15,27,62,83,109,119,126,136,150,176],"the":[8,55,84,106,110,117,120,127,130,137,146,151,157,173,177,186,193],"largest":[9],"challenges":[10],"in":[11,21,79,87],"robotics.":[12],"The":[13,81,140],"process":[14],"gripping":[16,131],"and":[17,32,123,133,162],"moving":[18],"achieved":[20],"different":[22,121],"ways":[23],"through":[24],"various":[25,194],"models":[26],"grippers.":[29],"Dexterous,":[30],"careful":[31],"useful":[33],"gripper":[35,95,138],"not":[36],"necessarily":[37],"need":[38],"to":[39,77,91,104,115,191],"be":[40,169],"a":[41,63,93],"claw":[42],"or":[43],"an":[44,74,97],"artificial":[45],"hand":[46],"with":[47,67,96,101],"several":[48],"fingers.":[49],"A":[50],"promising":[51],"technical":[52],"alternative":[53],"so-called":[56],"jamming":[57],"gripper,":[58],"which":[59],"made":[61],"flexible":[64],"membrane":[65,128,180,189],"filled":[66],"appropriate":[68],"powder,":[69],"e.g.":[70,160],"ground":[71],"coffee,":[72],"assistive":[75],"device":[76],"join":[78],"robots.":[80],"purpose":[82],"work":[85],"described":[86],"this":[88],"paper":[89],"develop":[92],"advanced":[98],"surface":[99,148,179,188],"structure":[100],"external":[102],"prominence":[103],"enhance":[105],"smooth":[107,187],"exterior":[108],"membrane.":[111],"Tests":[112],"are":[113],"performed":[114],"determine":[116],"influence":[118],"objects":[122,167],"friction":[124,153],"force":[125,135,175],"on":[129],"performance":[132],"holding":[134,174],"system.":[139],"results":[141],"show":[142],"that":[143,165],"by":[144],"improving":[145],"outer":[147],"geometry":[149],"membrane,":[152],"increased":[155],"under":[156],"same":[158],"condition,":[159],"vacuum":[161],"pressure,":[163],"so":[164],"heavier":[166],"can":[168],"lifted.":[170],"In":[171],"particular,":[172],"uneven":[178],"(USM)":[181],"much":[183],"higher":[184],"than":[185],"(SSM)":[190],"grip":[192],"objects.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
