{"id":"https://openalex.org/W2143909231","doi":"https://doi.org/10.1109/ichr.2008.4755987","title":"A new anthropomorphic robotic hand","display_name":"A new anthropomorphic robotic hand","publication_year":2008,"publication_date":"2008-12-01","ids":{"openalex":"https://openalex.org/W2143909231","doi":"https://doi.org/10.1109/ichr.2008.4755987","mag":"2143909231"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2008.4755987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","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/A5064176435","display_name":"I. Gaiser","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"I. Gaiser","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101773734","display_name":"Stefan Schulz","orcid":"https://orcid.org/0000-0002-6634-4004"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Schulz","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057056829","display_name":"A. Kargov","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Kargov","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060691111","display_name":"H. Klosek","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Klosek","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030743308","display_name":"Alexander Bierbaum","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Bierbaum","raw_affiliation_strings":["Institute ofComputer Science and Engineering, University of Karlsruhe (KIT), Germany","Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (KIT), Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute ofComputer Science and Engineering, University of Karlsruhe (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (KIT), Karlsruhe","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051742015","display_name":"Christian Pylatiuk","orcid":"https://orcid.org/0000-0002-3507-7134"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Pylatiuk","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027674664","display_name":"R. Oberle","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Oberle","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086486372","display_name":"Tino Werner","orcid":"https://orcid.org/0000-0002-3512-8667"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Werner","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Asfour","raw_affiliation_strings":["Institute ofComputer Science and Engineering, University of Karlsruhe (KIT), Germany","Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (KIT), Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute ofComputer Science and Engineering, University of Karlsruhe (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (KIT), Karlsruhe","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074908779","display_name":"Georg Bretthauer","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Bretthauer","raw_affiliation_strings":["Institute for Applied Computer Science, Research Center Karlsruhe, Germany","Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute for Applied Computer Science, Research Center Karlsruhe, Germany","institution_ids":[]},{"raw_affiliation_string":"Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Dillmann","raw_affiliation_strings":["Institute ofComputer Science and Engineering, University of Karlsruhe (KIT), Germany","Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (KIT), Karlsruhe"],"affiliations":[{"raw_affiliation_string":"Institute ofComputer Science and Engineering, University of Karlsruhe (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe (KIT), Karlsruhe","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5064176435"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":11.618,"has_fulltext":false,"cited_by_count":99,"citation_normalized_percentile":{"value":0.9837129,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"418","last_page":"422"},"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":0.9973999857902527,"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":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.791113555431366},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.7425515055656433},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5579309463500977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5397869348526001},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4778425395488739},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.46673405170440674},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.46313953399658203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42665913701057434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4219907224178314},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3921768069267273},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3915836215019226},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3587031364440918},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2025700807571411}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.791113555431366},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.7425515055656433},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5579309463500977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5397869348526001},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4778425395488739},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.46673405170440674},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.46313953399658203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42665913701057434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4219907224178314},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3921768069267273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3915836215019226},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3587031364440918},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2025700807571411},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2008.4755987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W2013934681","https://openalex.org/W2025401669","https://openalex.org/W2058108211","https://openalex.org/W2091354771","https://openalex.org/W2134805236","https://openalex.org/W2140143700","https://openalex.org/W2145501120","https://openalex.org/W2147266498","https://openalex.org/W2159717066","https://openalex.org/W2171066085","https://openalex.org/W2296944518","https://openalex.org/W2297250667","https://openalex.org/W2542710067","https://openalex.org/W2543945668","https://openalex.org/W4256338276","https://openalex.org/W6630988379","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W2643983162","https://openalex.org/W2614950215","https://openalex.org/W1979945082","https://openalex.org/W4296901090","https://openalex.org/W1954807098","https://openalex.org/W2149699537","https://openalex.org/W2998163826","https://openalex.org/W1895481218","https://openalex.org/W1575722952","https://openalex.org/W2406928014"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,36,64,77,88,113],"new":[4,13],"robotic":[5,26,40],"FRH-4":[6,9],"hand.":[7],"The":[8,28,91],"hand":[10,21,29,65,92],"constitutes":[11],"a":[12,23,31,39],"hybrid":[14],"concept":[15],"of":[16,38,87],"an":[17,52],"anthropomorphic":[18],"five":[19],"fingered":[20],"and":[22,112],"three":[24],"jaw":[25],"gripper.":[27,41],"has":[30],"humanoid":[32],"appearance":[33],"while":[34],"maintaining":[35],"precision":[37],"Since":[42],"it":[43,50,79,107],"is":[44,66,80,93],"actuated":[45],"with":[46,70,82,96],"flexible":[47],"fluidic":[48],"actuators,":[49],"exhibits":[51],"excellent":[53],"power":[54],"to":[55,74,108],"weight":[56],"ratio.":[57],"These":[58],"elastic":[59],"actuators":[60],"also":[61,94],"ensure":[62],"that":[63],"safe":[67],"for":[68,115],"interacting":[69],"humans.":[71],"In":[72],"order":[73],"fully":[75],"control":[76],"joints,":[78],"equipped":[81],"position":[83],"sensors":[84,98],"on":[85,100],"all":[86],"11":[89],"joints.":[90],"fitted":[95],"tactile":[97],"based":[99],"cursor":[101],"navigation":[102],"sensor":[103],"elements,":[104],"which":[105],"allows":[106],"have":[109],"grasping":[110],"feedback":[111],"ability":[114],"exploration.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2026-03-03T08:47:05.690250","created_date":"2025-10-10T00:00:00"}