{"id":"https://openalex.org/W4413925559","doi":"https://doi.org/10.1109/icra55743.2025.11127397","title":"Design of a Novel Pneumatic Soft Gripper for Robust Adaptive Grasping","display_name":"Design of a Novel Pneumatic Soft Gripper for Robust Adaptive Grasping","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925559","doi":"https://doi.org/10.1109/icra55743.2025.11127397"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100681992","display_name":"Xiantao Sun","orcid":"https://orcid.org/0000-0002-1941-3089"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiantao Sun","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University,Hefei,China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113892289","display_name":"Manli Zhong","orcid":"https://orcid.org/0009-0006-4803-4519"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingsheng Zhong","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University,Hefei,China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhouzheng Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouzheng Tang","raw_affiliation_strings":["School of Electrical Engineering and Automation, Anhui University,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University,Hefei,China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462267","display_name":"Wenjie Chen","orcid":"https://orcid.org/0000-0003-0556-7391"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University,Beijing,China","School of Electrical Engineering and Automation, Anhui University,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University,Hefei,China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University,Beijing,China","School of Electrical Engineering and Automation, Anhui University,Hefei,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University,Hefei,China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7852","last_page":"7857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9937999844551086,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9937999844551086,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9904000163078308,"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":0.9757000207901001,"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/computer-science","display_name":"Computer science","score":0.5732424259185791},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5426760911941528},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.405417263507843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3274397850036621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28341054916381836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26577329635620117}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5732424259185791},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5426760911941528},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.405417263507843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3274397850036621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28341054916381836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26577329635620117}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127397","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2087879603","https://openalex.org/W2096780240","https://openalex.org/W2608405054","https://openalex.org/W2619272866","https://openalex.org/W2623551786","https://openalex.org/W2737491236","https://openalex.org/W2799317175","https://openalex.org/W2799716475","https://openalex.org/W2966665557","https://openalex.org/W2970214639","https://openalex.org/W2970521931","https://openalex.org/W2973761438","https://openalex.org/W2976171218","https://openalex.org/W2999228329","https://openalex.org/W3038216440","https://openalex.org/W3040887933","https://openalex.org/W3044121105","https://openalex.org/W3107437201","https://openalex.org/W3118886878","https://openalex.org/W3134741026","https://openalex.org/W3165325652","https://openalex.org/W3194612245","https://openalex.org/W3208905283","https://openalex.org/W3209952908","https://openalex.org/W4200213509","https://openalex.org/W4285505591","https://openalex.org/W4316877031","https://openalex.org/W4385616672","https://openalex.org/W4393241215","https://openalex.org/W4394894156"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Soft":[0],"grippers":[1],"have":[2],"shown":[3],"promising":[4],"performance":[5,72,124],"in":[6,18,212],"safe":[7],"and":[8,53,103,113,136,149,172,191,193],"adaptive":[9,37],"grasping":[10,19,114,183,215],"tasks.":[11,216],"However,":[12],"they":[13],"often":[14],"suffer":[15],"from":[16],"limitations":[17],"force.":[20],"To":[21],"address":[22],"this":[23,25],"challenge,":[24],"paper":[26],"presents":[27],"a":[28,48,54,63,99],"novel":[29],"pneumatic":[30,49,55,65,77],"three-finger":[31],"soft":[32,51,57,118,128,165,205],"gripper":[33,40,166,179,206],"to":[34,74,93,108,154],"achieve":[35],"robust":[36,214],"grasping.":[38],"The":[39,59,80,123,147,203],"consists":[41],"of":[42,98,116,125,139,158,182,186],"three":[43,86],"identical":[44],"fingers,":[45],"each":[46],"containing":[47],"bending":[50,60,71,111],"actuator":[52,61,82],"lateral":[56,81,96],"actuator.":[58],"features":[62],"tilted":[64],"network":[66,78],"structure,":[67],"which":[68],"provides":[69],"superior":[70],"compared":[73,153],"traditional":[75],"vertical":[76],"structure.":[79],"is":[83,130,144,167,180],"equipped":[84],"with":[85],"deflection":[87],"chambers":[88],"at":[89],"the":[90,95,110,117,126,137,140,156,159,163,178],"finger":[91,119,129],"root":[92],"mimic":[94],"motions":[97],"human":[100],"finger.":[101],"Kinematic":[102],"static":[104],"models":[105],"are":[106,152],"established":[107],"predict":[109],"angle":[112,143],"force":[115],"under":[120],"pressurized":[121],"air.":[122],"proposed":[127,164,204],"analyzed":[131],"through":[132],"finite":[133],"element":[134],"simulations,":[135],"effect":[138],"chamber":[141],"tilt":[142],"also":[145],"examined.":[146],"theoretical":[148],"simulation":[150],"results":[151,175],"verify":[155],"validity":[157],"analytical":[160],"models.":[161],"Finally,":[162],"fabricated":[168],"by":[169],"3D":[170],"printing":[171],"molding.":[173],"Experimental":[174],"show":[176],"that":[177],"capable":[181],"various":[184],"objects":[185],"different":[187],"sizes,":[188],"shapes,":[189],"materials,":[190],"weights,":[192],"can":[194],"perform":[195],"dexterous":[196],"manipulation":[197],"tasks,":[198],"such":[199],"as":[200],"cap":[201],"unscrewing.":[202],"exhibits":[207],"significant":[208],"potential":[209],"for":[210],"applications":[211],"robotic":[213]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}