{"id":"https://openalex.org/W4285102553","doi":"https://doi.org/10.1109/icra46639.2022.9811548","title":"The Wavejoints: A Novel Methodology to Design Soft-Rigid Grippers Made by Monolithic 3D Printed Fingers with Adjustable Joint Stiffness","display_name":"The Wavejoints: A Novel Methodology to Design Soft-Rigid Grippers Made by Monolithic 3D Printed Fingers with Adjustable Joint Stiffness","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102553","doi":"https://doi.org/10.1109/icra46639.2022.9811548"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811548","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","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/A5051636338","display_name":"Mihai Dragusanu","orcid":"https://orcid.org/0000-0001-9373-6866"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mihai Dragusanu","raw_affiliation_strings":["University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042383515","display_name":"Gabriele Maria Achilli","orcid":"https://orcid.org/0000-0002-6369-2978"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Maria Achilli","raw_affiliation_strings":["University of Perugia,Department of Engineering,Terni,Italy","Department of Engineering, University of Perugia, Terni, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Terni,Italy","institution_ids":["https://openalex.org/I27483092"]},{"raw_affiliation_string":"Department of Engineering, University of Perugia, Terni, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028450913","display_name":"Maria Cristina Valigi","orcid":"https://orcid.org/0000-0002-4207-6340"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Cristina Valigi","raw_affiliation_strings":["University of Perugia,Department of Engineering,Perugia,Italy","Department of Engineering, University of Perugia, Perugia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Perugia,Department of Engineering,Perugia,Italy","institution_ids":["https://openalex.org/I27483092"]},{"raw_affiliation_string":"Department of Engineering, University of Perugia, Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]},{"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":["University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","Humanoids & Human Centered Mechatronics Research Line, Istituto Italiano di Tecnologia, Genoa, Italy","Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Humanoids & Human Centered Mechatronics Research Line, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018301156","display_name":"Monica Malvezzi","orcid":"https://orcid.org/0000-0002-2158-5920"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Monica Malvezzi","raw_affiliation_strings":["University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035423509","display_name":"Gionata Salvietti","orcid":"https://orcid.org/0000-0001-9170-4051"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gionata Salvietti","raw_affiliation_strings":["University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Siena,Department of Information Engineering and Mathematics,Siena,Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.3464,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98245088,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6173","last_page":"6179"},"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":0.9998000264167786,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8895801901817322},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7486377358436584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.604857861995697},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5600905418395996},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5310314893722534},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47658202052116394},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4714672863483429},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.4388115108013153},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41326671838760376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3529316782951355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3241027295589447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3000134825706482},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2870500087738037},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14298143982887268}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8895801901817322},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7486377358436584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.604857861995697},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5600905418395996},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5310314893722534},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47658202052116394},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4714672863483429},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.4388115108013153},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41326671838760376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3529316782951355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3241027295589447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3000134825706482},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2870500087738037},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14298143982887268},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811548","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:usiena-air.unisi.it:11365/1225994","is_oa":false,"landing_page_url":"https://hdl.handle.net/11365/1225994","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1603852272","https://openalex.org/W1888892744","https://openalex.org/W2034433797","https://openalex.org/W2063732873","https://openalex.org/W2102170685","https://openalex.org/W2126701792","https://openalex.org/W2155337985","https://openalex.org/W2157487448","https://openalex.org/W2162556257","https://openalex.org/W2164575107","https://openalex.org/W2192139261","https://openalex.org/W2273215869","https://openalex.org/W2551680314","https://openalex.org/W2658532827","https://openalex.org/W2736736250","https://openalex.org/W2774048936","https://openalex.org/W2775026049","https://openalex.org/W2784648116","https://openalex.org/W2793400769","https://openalex.org/W2795294836","https://openalex.org/W2807254784","https://openalex.org/W2891631446","https://openalex.org/W2902099625","https://openalex.org/W2909761319","https://openalex.org/W2913467116","https://openalex.org/W2967807151","https://openalex.org/W2980386651","https://openalex.org/W2995958947","https://openalex.org/W3003198690","https://openalex.org/W3008239204","https://openalex.org/W3008760761","https://openalex.org/W3036689879","https://openalex.org/W3048451413","https://openalex.org/W3120480377","https://openalex.org/W3214085073","https://openalex.org/W4241088297","https://openalex.org/W4254673829","https://openalex.org/W6639434857","https://openalex.org/W6683050527"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W2114938142","https://openalex.org/W2391131871","https://openalex.org/W3214990115","https://openalex.org/W299000627","https://openalex.org/W4386517157"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,116,149,156],"methodology":[6],"to":[7,12,32,41,47,85,89,108,112,134,141],"design":[8,66],"soft-rigid":[9],"grippers":[10],"able":[11,140],"perform":[13,48],"different":[14,34,49,55,74,90],"manipulation":[15,59,100],"tasks.":[16],"The":[17],"main":[18],"idea":[19],"is":[20,83],"the":[21,43,80,94,122,127,153],"introduction":[22],"of":[23,60,72,126,160],"wave-shaped":[24],"hinges":[25],"whose":[26],"geometrical":[27],"parameters":[28],"can":[29,131],"be":[30,132],"designed":[31,84],"achieve":[33],"three-dimensional":[35],"impedance":[36],"characteristics.":[37],"This":[38],"allows":[39],"one":[40,82,96],"use":[42],"same":[44],"tendon-driven":[45,150],"actuation":[46],"tasks":[50],"including":[51],"grasping":[52],"objects":[53,87],"with":[54,106],"shapes":[56,91],"and":[57,68,92,124],"in-hand":[58,99],"small":[61],"objects.":[62],"We":[63],"report":[64],"all":[65],"procedures":[67],"an":[69,98,109],"experimental":[70],"evaluation":[71],"two":[73,77],"prototypes":[75],"exploiting":[76],"possible":[78],"tasks,":[79],"first":[81],"grasp":[86],"adapting":[88],"dimensions,":[93],"second":[95],"performs":[97],"task":[101],"consisting":[102],"in":[103,143],"object":[104],"rotation":[105],"respect":[107],"axis":[110],"perpendicular":[111],"hand":[113],"palm,":[114],"resembling":[115],"\u201cscrew\u201d":[117],"movement.":[118],"Obtained":[119],"results":[120],"confirm":[121],"feasibility":[123],"potentialities":[125],"proposed":[128],"methodology,":[129],"that":[130],"applied":[133],"obtain":[135],"3D":[136],"printed":[137],"monolithic":[138],"fingers":[139],"move":[142],"predefined":[144],"directions":[145],"when":[146],"activated":[147],"through":[148],"system,":[151],"paving":[152],"way":[154],"toward":[155],"new":[157],"task-specific":[158],"realization":[159],"compliant":[161],"grippers.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
