{"id":"https://openalex.org/W2966623573","doi":"https://doi.org/10.1109/icorr.2019.8779435","title":"A Compliant, Underactuated Finger for Anthropomorphic Hands","display_name":"A Compliant, Underactuated Finger for Anthropomorphic Hands","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2966623573","doi":"https://doi.org/10.1109/icorr.2019.8779435","mag":"2966623573","pmid":"https://pubmed.ncbi.nlm.nih.gov/31374710"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2019.8779435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5039559939","display_name":"George P. Kontoudis","orcid":"https://orcid.org/0000-0003-2193-7700"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George P. Kontoudis","raw_affiliation_strings":["Department of Aerospace and Ocean Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Ocean Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["New Dexterity research group, University of Auckland, Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040301558","display_name":"Kyriakos G. Vamvoudakis","orcid":"https://orcid.org/0000-0003-1978-4848"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyriakos G. Vamvoudakis","raw_affiliation_strings":["Daniel Guggenheim School of Aerospace Engineering, Georgia Tech, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daniel Guggenheim School of Aerospace Engineering, Georgia Tech, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7549,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82623884,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2019","issue":null,"first_page":"682","last_page":"688"},"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":0.9990000128746033,"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":0.9954000115394592,"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/underactuation","display_name":"Underactuation","score":0.8156322240829468},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8149150609970093},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.7827774882316589},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.740048885345459},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.67497718334198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6330296993255615},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4633060097694397},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4336736798286438},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3940276503562927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28585687279701233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2655693292617798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2572751045227051},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1642378270626068}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8156322240829468},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8149150609970093},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.7827774882316589},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.740048885345459},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.67497718334198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6330296993255615},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4633060097694397},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4336736798286438},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3940276503562927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28585687279701233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2655693292617798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2572751045227051},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1642378270626068},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003187","descriptor_name":"Compliance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003187","descriptor_name":"Compliance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003187","descriptor_name":"Compliance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012399","descriptor_name":"Rotation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012399","descriptor_name":"Rotation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012399","descriptor_name":"Rotation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr.2019.8779435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:31374710","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31374710","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2004220507","https://openalex.org/W2016496228","https://openalex.org/W2054098571","https://openalex.org/W2075489463","https://openalex.org/W2078759560","https://openalex.org/W2082641899","https://openalex.org/W2091267546","https://openalex.org/W2098436483","https://openalex.org/W2106462416","https://openalex.org/W2117197536","https://openalex.org/W2126701792","https://openalex.org/W2143293308","https://openalex.org/W2154006563","https://openalex.org/W2194598979","https://openalex.org/W2218684819","https://openalex.org/W2237151420","https://openalex.org/W2415645592","https://openalex.org/W2416254177","https://openalex.org/W2539246396","https://openalex.org/W2730491040","https://openalex.org/W2738040397","https://openalex.org/W2784182594","https://openalex.org/W2808191374","https://openalex.org/W6716503989","https://openalex.org/W6812379472"],"related_works":["https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286","https://openalex.org/W4210853116","https://openalex.org/W2509658230","https://openalex.org/W2372596258","https://openalex.org/W4399557464"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"compliant,":[4],"underactuated":[5],"finger":[6,17,66,132],"for":[7],"the":[8,24,39,44,50,59,62,71,77,88,91,94,97,101,103,106,110,113,122,125,130,135,139],"development":[9],"of":[10,61,90,96,105,112,124,141],"anthropomorphic":[11],"robotic":[12],"and":[13,21,42,76,109,115],"prosthetic":[14],"hands.":[15],"The":[16,31,64,118],"achieves":[18],"both":[19],"flexion/extension":[20],"adduction/abduction":[22],"on":[23],"metacarpophalangeal":[25],"joint,":[26],"by":[27],"using":[28],"two":[29,126],"actuators.":[30],"design":[32],"employs":[33],"moment":[34],"arm":[35],"pulleys":[36],"to":[37,58,128],"drive":[38],"tendon":[40],"laterally":[41],"amplify":[43],"abduction":[45],"motion,":[46],"while":[47],"also":[48],"maintaining":[49],"flexion":[51],"motion.":[52],"Particular":[53],"emphasis":[54],"has":[55,67,81],"been":[56,68,82],"given":[57],"analysis":[60],"mechanism.":[63],"proposed":[65,119],"fabricated":[69],"with":[70,84],"hybrid":[72],"deposition":[73],"manufacturing":[74],"technique":[75],"actuation":[78],"mechanism's":[79],"efficiency":[80],"validated":[83],"experiments":[85],"that":[86],"include":[87],"computation":[89],"reachable":[92],"workspace,":[93],"assessment":[95],"exerted":[98,131],"forces":[99],"at":[100],"fingertip,":[102],"demonstration":[104],"feasible":[107],"motions,":[108],"presentation":[111],"grasping":[114],"manipulation":[116,143],"capabilities.":[117],"mechanism":[120],"facilitates":[121],"collaboration":[123],"actuators":[127],"increase":[129],"forces.":[133],"Moreover,":[134],"extended":[136],"workspace":[137],"allows":[138],"execution":[140],"dexterous":[142],"tasks.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
