{"id":"https://openalex.org/W4285102438","doi":"https://doi.org/10.1109/icra46639.2022.9812112","title":"Powerful and dexterous multi-finger hand using dynamical pulley mechanism","display_name":"Powerful and dexterous multi-finger hand using dynamical pulley mechanism","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102438","doi":"https://doi.org/10.1109/icra46639.2022.9812112"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812112","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/A5028926461","display_name":"Tadaaki Hasegawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tadaaki Hasegawa","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006422271","display_name":"Hironori Waita","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hironori Waita","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112508270","display_name":"Tomohiro Kawakami","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Kawakami","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050262292","display_name":"Yoshinari Takemura","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshinari Takemura","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014493093","display_name":"Tetsuya Ishikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Ishikawa","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072215809","display_name":"Yuta Kimura","orcid":"https://orcid.org/0000-0002-3525-1366"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Kimura","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022993786","display_name":"Chiaki Tanaka","orcid":"https://orcid.org/0000-0001-9113-436X"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chiaki Tanaka","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076755886","display_name":"Ken-ichiro Sugiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenichiro Sugiyama","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056371595","display_name":"Takahide Yoshiike","orcid":"https://orcid.org/0000-0002-5388-9291"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahide Yoshiike","raw_affiliation_strings":["Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan"],"affiliations":[{"raw_affiliation_string":"Frontier Robotics domain, Honda R&#x0026;D Co., Ltd.,Saitama,Japan","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5028926461"],"corresponding_institution_ids":["https://openalex.org/I1283473643"],"apc_list":null,"apc_paid":null,"fwci":4.6188,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.96845806,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"707","last_page":"713"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9987999796867371,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9922999739646912,"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/pulley","display_name":"Pulley","score":0.9245983958244324},{"id":"https://openalex.org/keywords/desk","display_name":"Desk","score":0.8233211040496826},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7818520665168762},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7075372934341431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6910853981971741},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6725383996963501},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5956227779388428},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.4588727056980133},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45248889923095703},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.43953636288642883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.274554967880249},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2685304284095764},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18825897574424744}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9245983958244324},{"id":"https://openalex.org/C2776545233","wikidata":"https://www.wikidata.org/wiki/Q1064858","display_name":"Desk","level":2,"score":0.8233211040496826},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7818520665168762},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7075372934341431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6910853981971741},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6725383996963501},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5956227779388428},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.4588727056980133},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45248889923095703},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.43953636288642883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.274554967880249},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2685304284095764},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18825897574424744},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812112","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1600914722","https://openalex.org/W1658058115","https://openalex.org/W2049523680","https://openalex.org/W2058772518","https://openalex.org/W2063822181","https://openalex.org/W2096672608","https://openalex.org/W2182347502","https://openalex.org/W2202088841","https://openalex.org/W2220054658","https://openalex.org/W2282481780","https://openalex.org/W2752997159","https://openalex.org/W2963285996","https://openalex.org/W3003539258","https://openalex.org/W3185209449","https://openalex.org/W6665362477"],"related_works":["https://openalex.org/W2389891446","https://openalex.org/W2051081090","https://openalex.org/W205794235","https://openalex.org/W2566357993","https://openalex.org/W2776538682","https://openalex.org/W2010636391","https://openalex.org/W2384140996","https://openalex.org/W3134656980","https://openalex.org/W2938918381","https://openalex.org/W2007627964"],"abstract_inverted_index":{"A":[0],"multi-fingered":[1,34,54,78],"hand":[2,35,55,79],"that":[3,28,91],"can":[4,29,80,100,123],"grasp":[5],"and":[6,61,95],"manipulate":[7],"a":[8,52,58,62,68,73,82,93,108,111,122],"variety":[9],"of":[10,25,43,57,85,92,121],"objects":[11],"is":[12,36,88],"an":[13],"option":[14],"for":[15],"assisting":[16],"people":[17],"in":[18],"their":[19],"daily":[20],"lives.":[21],"However,":[22],"the":[23,33,41,44,97,117],"range":[24],"torque":[26,71],"output":[27,70],"be":[30],"handled":[31],"by":[32,124],"very":[37],"limited":[38],"compared":[39],"to":[40,66,90],"capability":[42],"human":[45],"hand.":[46],"In":[47,113],"this":[48],"paper,":[49],"we":[50,115],"introduce":[51],"new":[53],"consisting":[56],"dynamic":[59],"pulley":[60],"linkage":[63],"mechanism,":[64],"aiming":[65],"achieve":[67,81],"human-like":[69,74],"with":[72],"size.":[75],"The":[76],"proposed":[77],"fingertip":[83,126],"force":[84],"50N,":[86],"which":[87],"equivalent":[89],"human,":[94],"at":[96],"same":[98],"time":[99],"perform":[101],"delicate":[102],"operations":[103],"such":[104],"as":[105],"picking":[106],"up":[107],"coin":[109],"on":[110],"desk.":[112],"addition,":[114],"realized":[116],"stay-on-tab":[118],"opening":[119],"task":[120],"utilizing":[125],"strength.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-02T06:13:33.250793","created_date":"2025-10-10T00:00:00"}
