{"id":"https://openalex.org/W1979490179","doi":"https://doi.org/10.1109/icra.2012.6225094","title":"Object motion-decoupled internal force control for a compliant multifingered hand","display_name":"Object motion-decoupled internal force control for a compliant multifingered hand","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1979490179","doi":"https://doi.org/10.1109/icra.2012.6225094","mag":"1979490179"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Prattichizzo","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Information Engineering, University of Sienna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Information Engineering, University of Sienna, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018301156","display_name":"Monica Malvezzi","orcid":"https://orcid.org/0000-0002-2158-5920"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Monica Malvezzi","raw_affiliation_strings":["Department of Information Engineering, University of Sienna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Sienna, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074771551","display_name":"Marco Aggravi","orcid":"https://orcid.org/0000-0001-7911-426X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Aggravi","raw_affiliation_strings":["Department of Information Engineering, University of Sienna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Sienna, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011391990","display_name":"Thomas Wimb\u00f6ck","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wimbock","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"119","issue":null,"first_page":"1508","last_page":"1513"},"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":0.9957000017166138,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9919000267982483,"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/grasp","display_name":"GRASP","score":0.790725588798523},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7165908217430115},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6712026596069336},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.655034601688385},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6334788799285889},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6097188591957092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5338595509529114},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.5304994583129883},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.5013947486877441},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4967709183692932},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43223682045936584},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4158509373664856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36153116822242737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3598141670227051},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30953019857406616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2260972261428833},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10403448343276978}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.790725588798523},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7165908217430115},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6712026596069336},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.655034601688385},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6334788799285889},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6097188591957092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338595509529114},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.5304994583129883},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.5013947486877441},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4967709183692932},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43223682045936584},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4158509373664856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36153116822242737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3598141670227051},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30953019857406616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2260972261428833},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10403448343276978},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2012.6225094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:80049","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225094&isnumber=6224548","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:usiena-air.unisi.it:11365/32453","is_oa":false,"landing_page_url":"http://hdl.handle.net/11365/32453","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1968726444","https://openalex.org/W1979543088","https://openalex.org/W2038220101","https://openalex.org/W2096514536","https://openalex.org/W2097189012","https://openalex.org/W2097193816","https://openalex.org/W2100658034","https://openalex.org/W2113704510","https://openalex.org/W2134167019","https://openalex.org/W2142753802","https://openalex.org/W2150166232","https://openalex.org/W2164944975","https://openalex.org/W2165471867","https://openalex.org/W2294898062","https://openalex.org/W2494118737","https://openalex.org/W3217246742","https://openalex.org/W4233227660","https://openalex.org/W4241088297"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W2151851288","https://openalex.org/W2321872515","https://openalex.org/W1874193130","https://openalex.org/W4206486471","https://openalex.org/W2501549737"],"abstract_inverted_index":{"Compliance":[0,13],"in":[1,105],"multifingered":[2,81],"hand":[3,49],"improves":[4],"grasp":[5,69],"stability":[6],"and":[7,35,63,83,143],"effectiveness":[8],"of":[9,14,28,46,53,70,79,86,146,161,175,197],"the":[10,20,25,29,37,43,47,51,60,71,80,84,87,97,106,110,116,126,176,189],"manipulation":[11],"tasks.":[12],"robotic":[15,48],"hands":[16],"depends":[17],"mainly":[18],"on":[19,24,36,171],"joint":[21,32],"control":[22,52,85,160],"parameters,":[23],"mechanical":[26],"design":[27,130],"hand,":[30,82,200],"as":[31,157],"passive":[33],"springs,":[34],"contact":[38,61],"properties.":[39],"In":[40],"object":[41,98,111,137,158,195],"grasping":[42],"primary":[44],"task":[45],"is":[50,75,90,141,149],"internal":[54,88,107,132,147,162,190],"forces":[55,89,108,148,191],"which":[56,201],"allows":[57],"to":[58,65,93,113,129,154,187,193],"satisfy":[59],"constraints":[62],"consequently":[64],"guarantee":[66],"a":[67,103,144,172,183],"stable":[68],"object.":[72],"When":[73],"compliance":[74],"an":[76,131,198],"essential":[77],"element":[78],"not":[91],"designed":[92],"be":[94,203],"decoupled":[95,135],"from":[96,115,136],"motion,":[99],"it":[100],"happens":[101],"that":[102],"change":[104],"causes":[109],"trajectory":[112,184],"deviate":[114],"planned":[117],"path":[118],"with":[119],"consequent":[120],"performance":[121],"degradation.":[122],"This":[123,180],"paper":[124],"studies":[125],"structural":[127],"conditions":[128],"force":[133,165],"controller":[134,145,156,166,181],"motions.":[138],"The":[139,164],"analysis":[140],"constructive":[142],"proposed.":[150],"We":[151],"will":[152],"refer":[153],"this":[155],"motion-decoupled":[159],"forces.":[163],"has":[167],"been":[168],"successfully":[169],"tested":[170],"realistic":[173],"model":[174],"DLR":[177],"Hand":[178],"II.":[179],"provides":[182],"interface":[185],"allowing":[186],"vary":[188],"(and":[192],"specify":[194],"motions)":[196],"underactuated":[199],"can":[202],"used":[204],"by":[205],"higher-level":[206],"modules,":[207],"e.g.":[208],"planning":[209],"tools.":[210]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}