{"id":"https://openalex.org/W4383109235","doi":"https://doi.org/10.1109/icra48891.2023.10161369","title":"The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation","display_name":"The New Dexterity Adaptive Humanlike Robot Hand: Employing a Reconfigurable Palm for Robust Grasping and Dexterous Manipulation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109235","doi":"https://doi.org/10.1109/icra48891.2023.10161369"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5065794603","display_name":"Geng Gao","orcid":"https://orcid.org/0000-0002-8814-2665"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Geng Gao","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064359157","display_name":"Anany Dwivedi","orcid":"https://orcid.org/0000-0003-3262-6676"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Anany Dwivedi","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":3.9648,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.95270813,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10310","last_page":"10316"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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/computer-science","display_name":"Computer science","score":0.6678973436355591},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.6458154320716858},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6328966021537781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5585235953330994},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.482431024312973},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3678191900253296},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3573572635650635},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35480278730392456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20910686254501343}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6678973436355591},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.6458154320716858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6328966021537781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5585235953330994},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.482431024312973},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3678191900253296},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3573572635650635},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35480278730392456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20910686254501343},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161369","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161369","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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":34,"referenced_works":["https://openalex.org/W1891615552","https://openalex.org/W2009934861","https://openalex.org/W2010190464","https://openalex.org/W2031835394","https://openalex.org/W2048058874","https://openalex.org/W2058902184","https://openalex.org/W2063149136","https://openalex.org/W2082301355","https://openalex.org/W2094281417","https://openalex.org/W2098436483","https://openalex.org/W2139086916","https://openalex.org/W2164575107","https://openalex.org/W2296446406","https://openalex.org/W2551865091","https://openalex.org/W2784648116","https://openalex.org/W2890498369","https://openalex.org/W2901136733","https://openalex.org/W2950069298","https://openalex.org/W2980129289","https://openalex.org/W2981030070","https://openalex.org/W3011477119","https://openalex.org/W3041466979","https://openalex.org/W3044992474","https://openalex.org/W3099587965","https://openalex.org/W3127172103","https://openalex.org/W3167055807","https://openalex.org/W3194591472","https://openalex.org/W4200050050","https://openalex.org/W4200133235","https://openalex.org/W4200213509","https://openalex.org/W4200406686","https://openalex.org/W4205276187","https://openalex.org/W6652925325","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2024231062","https://openalex.org/W2914514113","https://openalex.org/W4390996027","https://openalex.org/W2416243481","https://openalex.org/W3213857688","https://openalex.org/W2054797264","https://openalex.org/W2125232430","https://openalex.org/W2366442391","https://openalex.org/W2039797512","https://openalex.org/W4224295206"],"abstract_inverted_index":{"Robots":[0],"have":[1],"predominantly":[2],"been":[3],"used":[4],"in":[5,8,16,24,26,43],"automating":[6],"tasks":[7,35],"structured":[9],"industrial":[10],"environments,":[11],"however,":[12],"with":[13,64,78],"the":[14,34,70,87,91,119,147,156,166,176,180,186,191,196,206],"advances":[15],"technology":[17],"they":[18],"are":[19,49,96,211],"starting":[20],"to":[21,55,62,107],"take":[22],"part":[23],"roles":[25],"dynamic":[27],"everyday":[28],"life":[29],"scenarios.":[30],"As":[31,67],"a":[32,79,135,150,171],"result,":[33],"executed":[36],"by":[37],"robotic":[38],"systems":[39],"will":[40],"also":[41,195],"grow":[42],"sophistication.":[44],"Grasping":[45],"and":[46,100,105,178,214,235,242],"dexterous":[47],"manipulation":[48,188,238],"critical":[50],"aspects":[51],"that":[52,95,126,229,240],"allow":[53],"humans":[54],"execute":[56],"these":[57],"sophisticated":[58,103],"tasks,":[59],"enabling":[60],"them":[61],"interact":[63],"their":[65,231,244],"environment.":[66],"such,":[68],"emulating":[69],"human":[71],"hand":[72,92,125,209],"can":[73],"be":[74],"advantageous":[75],"for":[76,82,174,200],"interacting":[77],"world":[80],"designed":[81],"humans.":[83],"However,":[84],"directly":[85],"replicating":[86],"anatomical":[88],"structure":[89],"of":[90,118,129,138,146,163,190,205],"produces":[93],"designs":[94,210],"fully":[97],"actuated,":[98],"expensive,":[99],"which":[101,169],"require":[102],"controls":[104],"sensing":[106],"operate":[108],"efficiently.":[109],"In":[110],"this":[111],"paper,":[112],"we":[113],"present":[114],"two":[115],"different":[116,218],"versions":[117,148],"New":[120],"Dexterity":[121],"adaptive,":[122],"humanlike":[123],"robot":[124,192,208],"is":[127],"capable":[128],"executing":[130],"robust":[131],"caging":[132],"grasps":[133],"under":[134],"wide":[136],"range":[137],"environmental":[139],"uncertainties":[140],"(e.g.,":[141],"object":[142],"pose":[143],"uncertainties).":[144],"One":[145],"has":[149],"classic,":[151],"fixed":[152],"thumb":[153,167,177],"base":[154],"while":[155],"second":[157],"one":[158],"incorporates":[159],"an":[160],"additional":[161],"degree":[162],"freedom":[164],"at":[165],"base,":[168],"enables":[170],"translational":[172],"motion":[173],"repositioning":[175],"adjusting":[179],"aperture.":[181],"This":[182],"design":[183],"choice":[184],"enhances":[185],"inhand":[187],"capabilities":[189,199],"hand,":[193],"improving":[194],"power":[197],"grasping":[198,221],"larger":[201],"objects.":[202],"The":[203],"performances":[204],"proposed":[207],"experimentally":[212],"validated":[213],"compared":[215],"through":[216],"three":[217],"tests:":[219],"i)":[220],"experiments":[222,228,239],"involving":[223],"everyday-life":[224],"objects,":[225],"ii)":[226],"force":[227,232],"evaluate":[230],"exertion":[233],"capabilities,":[234],"iii)":[236],"in-hand":[237],"demonstrate":[241],"compare":[243],"dexterity.":[245]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}