{"id":"https://openalex.org/W2585799039","doi":"https://doi.org/10.1109/icinfa.2016.7832037","title":"A novel underactuated hand with adaptive robotic fingers","display_name":"A novel underactuated hand with adaptive robotic fingers","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2585799039","doi":"https://doi.org/10.1109/icinfa.2016.7832037","mag":"2585799039"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7832037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","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/A5101870054","display_name":"Bin Gao","orcid":"https://orcid.org/0000-0001-9993-1013"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin Gao","raw_affiliation_strings":["Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","Guangdong Provincial Key Laboratory of Robotics and I ntelligent System, Chinese Academy of Sciences","Harbin Institutes of Technology, Shenzh en Graduate School","The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and I ntelligent System, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"Harbin Institutes of Technology, Shenzh en Graduate School","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018985485","display_name":"Long Lei","orcid":"https://orcid.org/0000-0001-9999-7311"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Lei","raw_affiliation_strings":["Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","Guangdong Provincial Key Laboratory of Robotics and I ntelligent System, Chinese Academy of Sciences","The Chinese University of Hong Kong","Harbin Institutes of Technology, Shenzh en Graduate School"],"affiliations":[{"raw_affiliation_string":"Harbin Institutes of Technology Shenzhen Graduate School. Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and I ntelligent System, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Harbin Institutes of Technology, Shenzh en Graduate School","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102406752","display_name":"Shijia Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210120485","display_name":"Academy of Mathematics and Systems Science","ror":"https://ror.org/02jkmyk67","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210120485"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I4210115303","display_name":"Synergy University","ror":"https://ror.org/028mtfb17","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210115303"]}],"countries":["CN","RU"],"is_corresponding":false,"raw_author_name":"Shijia Zhao","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210120485","https://openalex.org/I19820366","https://openalex.org/I4210115303"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668236","display_name":"Ying Hu","orcid":"https://orcid.org/0000-0002-3807-3649"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210115303","display_name":"Synergy University","ror":"https://ror.org/028mtfb17","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210115303"]},{"id":"https://openalex.org/I4210120485","display_name":"Academy of Mathematics and Systems Science","ror":"https://ror.org/02jkmyk67","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210120485"]}],"countries":["CN","RU"],"is_corresponding":false,"raw_author_name":"Ying Hu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences. The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Key Laboratory of Human-Machine Intelligence-Synergy Systems, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210120485","https://openalex.org/I19820366","https://openalex.org/I4210115303"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["University of Hamburg, Germany","Jianwei Zhang is with University of Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Jianwei Zhang is with University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101870054"],"corresponding_institution_ids":["https://openalex.org/I177725633","https://openalex.org/I19820366","https://openalex.org/I204983213","https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.5356,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71927792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1392","last_page":"1397"},"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":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996999979019165,"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/underactuation","display_name":"Underactuation","score":0.9791864156723022},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8509271144866943},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7388770580291748},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6564086079597473},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5623288154602051},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4710298180580139},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46124783158302307},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4396106004714966},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42714935541152954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3567057251930237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34069448709487915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32799023389816284},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11581608653068542},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10797390341758728},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05650445818901062}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9791864156723022},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8509271144866943},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7388770580291748},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6564086079597473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5623288154602051},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4710298180580139},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46124783158302307},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4396106004714966},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42714935541152954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3567057251930237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34069448709487915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32799023389816284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11581608653068542},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10797390341758728},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05650445818901062},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2016.7832037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W10955408","https://openalex.org/W1513477325","https://openalex.org/W1881047840","https://openalex.org/W1881109849","https://openalex.org/W1984237968","https://openalex.org/W1996123965","https://openalex.org/W1997047708","https://openalex.org/W2000779195","https://openalex.org/W2009674435","https://openalex.org/W2078568084","https://openalex.org/W2096231443","https://openalex.org/W2117197536","https://openalex.org/W2159717066","https://openalex.org/W2514957957","https://openalex.org/W2536025378","https://openalex.org/W4210660029","https://openalex.org/W6600453013","https://openalex.org/W6639552897"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2583647647","https://openalex.org/W3035867307","https://openalex.org/W4312985843","https://openalex.org/W2157487448","https://openalex.org/W2613999385","https://openalex.org/W2387707337","https://openalex.org/W4200004409","https://openalex.org/W2078568084","https://openalex.org/W4399557464"],"abstract_inverted_index":{"This":[0],"paper":[1],"presented":[2],"the":[3,18,22,27,37,48,56,65,68,71,76,79,84,87,91,94,99,107],"concept":[4],"of":[5,24,44,51,67,78,96,101],"adaptation":[6],"and":[7,29,61,90,98,110],"underactuation":[8],"applied":[9],"to":[10],"robotic":[11],"grippers":[12],"for":[13],"manipulations.":[14],"In":[15],"order":[16],"that":[17,106],"gripper":[19,112],"can":[20,113],"grasp":[21],"objects":[23],"different":[25],"shapes,":[26],"adaptive":[28],"underactuated":[30,53,111],"mechanism":[31,80],"without":[32],"any":[33],"driving":[34,88],"system":[35],"in":[36],"joints":[38],"was":[39,81],"used.":[40],"The":[41,103],"main":[42],"objective":[43],"this":[45,52],"work":[46],"is":[47],"fundamental":[49],"analysis":[50,60],"finger,":[54],"including":[55],"dimensional":[57],"design,":[58],"kinetostatic":[59],"performance":[62,77],"evaluation.":[63],"Firstly,":[64],"forces":[66],"phalanges":[69],"at":[70],"finger":[72],"were":[73],"calculated.":[74],"Then,":[75],"evaluated":[82],"by":[83],"relationship":[85],"between":[86],"force":[89],"contact":[92],"force,":[93],"stability":[95],"grasping":[97],"dexterity":[100],"fingers.":[102],"results":[104],"showed":[105],"proposed":[108],"self-adaptive":[109],"perform":[114],"operations":[115],"like":[116],"human":[117],"hands.":[118]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
