{"id":"https://openalex.org/W2162556257","doi":"https://doi.org/10.1109/icra.2013.6630851","title":"A compliant hand based on a novel pneumatic actuator","display_name":"A compliant hand based on a novel pneumatic actuator","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2162556257","doi":"https://doi.org/10.1109/icra.2013.6630851","mag":"2162556257"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5065816069","display_name":"Raphael Deimel","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Raphael Deimel","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Unverisit\u00e4t Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Unverisit\u00e4t Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039143538","display_name":"Oliver Brock","orcid":"https://orcid.org/0000-0002-3719-7754"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Brock","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Unverisit\u00e4t Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Unverisit\u00e4t Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":30.9225,"has_fulltext":false,"cited_by_count":326,"citation_normalized_percentile":{"value":0.99982131,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2047","last_page":"2053"},"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":0.9998999834060669,"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":0.9776999950408936,"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/actuator","display_name":"Actuator","score":0.8590192794799805},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7041478157043457},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6521345376968384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.607137143611908},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5516201853752136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4933542311191559},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4727400541305542},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.45563167333602905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4488787353038788},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.42623668909072876},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.4108375310897827},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3950200080871582},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3229391574859619},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2905963659286499},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.21416372060775757},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21213096380233765},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0674867331981659}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8590192794799805},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7041478157043457},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6521345376968384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.607137143611908},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5516201853752136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4933542311191559},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4727400541305542},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.45563167333602905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4488787353038788},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.42623668909072876},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.4108375310897827},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3950200080871582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3229391574859619},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2905963659286499},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.21416372060775757},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21213096380233765},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0674867331981659},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6630851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.715.4862","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.715.4862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/2013-icra13_Deimel_Brock.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W266053891","https://openalex.org/W1249953932","https://openalex.org/W1964947754","https://openalex.org/W1996966864","https://openalex.org/W2013195385","https://openalex.org/W2029744358","https://openalex.org/W2128082316","https://openalex.org/W2134805236","https://openalex.org/W2150585955","https://openalex.org/W2155337985","https://openalex.org/W2166585449","https://openalex.org/W2191324845","https://openalex.org/W2536243262","https://openalex.org/W3142545321","https://openalex.org/W6627909153","https://openalex.org/W6679714691","https://openalex.org/W6728817809"],"related_works":["https://openalex.org/W211888945","https://openalex.org/W2102858053","https://openalex.org/W2012595107","https://openalex.org/W314078363","https://openalex.org/W2901721787","https://openalex.org/W1978574942","https://openalex.org/W2384571910","https://openalex.org/W3123463378","https://openalex.org/W3116263516","https://openalex.org/W1994675081"],"abstract_inverted_index":{"The":[0,92],"RBO":[1,93],"Hand":[2],"is":[3,15,32,95],"a":[4,98],"novel,":[5],"highly":[6],"compliant":[7],"robotic":[8,72,109],"hand.":[9],"It":[10],"exhibits":[11,105],"robust":[12,40,54],"grasping":[13,55,76],"performance,":[14],"easy":[16],"to":[17,24,38,70],"build":[18],"and":[19,21,46,60,88],"prototype,":[20],"very":[22],"cheap":[23],"produce.":[25],"One":[26],"of":[27,36,67,90],"the":[28,33,44,47,65],"primary":[29],"design":[30],"motivations":[31],"extensive":[34,75],"leverage":[35],"compliance":[37],"achieve":[39],"shape":[41],"matching":[42],"between":[43],"hand":[45,94],"grasped":[48],"object.":[49],"This":[50],"effect":[51],"results":[52],"in":[53,74],"performance":[56],"under":[57],"sensing,":[58],"model,":[59],"actuation":[61],"uncertainty.":[62],"We":[63],"show":[64],"feasibility":[66],"our":[68],"approach":[69],"constructing":[71],"hands":[73],"experiments":[77],"on":[78,97],"objects":[79],"with":[80],"varying":[81],"properties,":[82],"included":[83],"water":[84],"bottles,":[85],"eye":[86],"glasses,":[87],"sheets":[89],"fabric.":[91],"based":[96],"novel":[99],"pneumatic":[100],"actuator,":[101],"called":[102],"PneuFlex,":[103],"which":[104],"desirable":[106],"properties":[107],"for":[108],"fingers.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":38},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":35},{"year":2019,"cited_by_count":28},{"year":2018,"cited_by_count":34},{"year":2017,"cited_by_count":29},{"year":2016,"cited_by_count":26},{"year":2015,"cited_by_count":26},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}
