{"id":"https://openalex.org/W2737138330","doi":"https://doi.org/10.1109/icra.2017.7989332","title":"Optimal design of a soft robotic gripper with high mechanical advantage for grasping irregular objects","display_name":"Optimal design of a soft robotic gripper with high mechanical advantage for grasping irregular objects","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737138330","doi":"https://doi.org/10.1109/icra.2017.7989332","mag":"2737138330"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5103249591","display_name":"Chih-Hsing Liu","orcid":"https://orcid.org/0000-0001-8728-8091"},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Hsing Liu","raw_affiliation_strings":["Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016265656","display_name":"Chen-Hua Chiu","orcid":null},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chen-Hua Chiu","raw_affiliation_strings":["Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91807558"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2846","last_page":"2851"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9948999881744385,"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/grippers","display_name":"Grippers","score":0.8750404119491577},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.711747407913208},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6851955652236938},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6140328645706177},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.544381320476532},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.5080935955047607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4824398458003998},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.43581756949424744},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.42117932438850403},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41134315729141235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3951316773891449},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36326825618743896},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2987061142921448},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2899181842803955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22857126593589783},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.10968416929244995}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8750404119491577},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.711747407913208},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6851955652236938},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6140328645706177},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.544381320476532},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.5080935955047607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4824398458003998},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.43581756949424744},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.42117932438850403},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41134315729141235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3951316773891449},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36326825618743896},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2987061142921448},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2899181842803955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22857126593589783},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.10968416929244995},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5299999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1706124764","https://openalex.org/W1888892744","https://openalex.org/W1968801597","https://openalex.org/W1969451263","https://openalex.org/W1969765242","https://openalex.org/W2000779195","https://openalex.org/W2007053422","https://openalex.org/W2024908197","https://openalex.org/W2027068156","https://openalex.org/W2048058874","https://openalex.org/W2059431109","https://openalex.org/W2066648437","https://openalex.org/W2067762713","https://openalex.org/W2080551943","https://openalex.org/W2118745602","https://openalex.org/W2120070853","https://openalex.org/W2155154119","https://openalex.org/W2155337985","https://openalex.org/W2162556257","https://openalex.org/W2302070158","https://openalex.org/W2523793308","https://openalex.org/W3159068915","https://openalex.org/W6677777846"],"related_works":["https://openalex.org/W2152053628","https://openalex.org/W2609734065","https://openalex.org/W3126952734","https://openalex.org/W4238477634","https://openalex.org/W4234532820","https://openalex.org/W2005077055","https://openalex.org/W4252161206","https://openalex.org/W3107343307","https://openalex.org/W4382053194","https://openalex.org/W4360886114"],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"a":[3],"soft":[4],"robotic":[5],"gripper":[6,115,126],"for":[7],"grasping":[8,86,105],"irregular":[9],"objects.":[10],"The":[11,52,110],"optimal":[12,53],"design":[13,54],"is":[14,35,55,70,116,127],"based":[15],"on":[16],"the":[17,26,30,38,44,48,73,79,93,104,108,113,118,124],"proposed":[18,101],"topology":[19],"optimization":[20,23],"and":[21,85,135],"size":[22],"methods":[24],"with":[25,117,128],"objective":[27],"to":[28,43,78,91,102],"maximize":[29],"mechanical":[31],"advantage":[32,67],"(MA,":[33],"which":[34,69,122],"defined":[36,71],"as":[37,72],"ratio":[39,74],"of":[40,47,75,107],"output":[41,76],"force":[42],"input":[45,80],"force)":[46],"analyzed":[49],"compliant":[50],"mechanism.":[51],"prototyped":[56],"using":[57],"silicon":[58],"rubber":[59],"material.":[60],"Experimental":[61],"tests":[62],"including":[63],"MA":[64],"test,":[65,82,84],"geometric":[66],"(GA,":[68],"displacement":[77],"displacement)":[81],"adaptability":[83],"test":[87],"are":[88],"carried":[89],"out":[90],"investigate":[92],"design.":[94],"A":[95],"performance":[96,106,120],"index":[97],"has":[98],"also":[99],"been":[100],"evaluate":[103],"grippers.":[109],"results":[111],"show":[112],"developed":[114,125],"highest":[119],"index,":[121],"represents":[123],"better":[129],"adaptability,":[130],"faster":[131],"response,":[132],"higher":[133],"payload":[134],"stability":[136],"in":[137],"overall.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}