{"id":"https://openalex.org/W4401413730","doi":"https://doi.org/10.1109/icra57147.2024.10610016","title":"Directly 3D Printed, Pneumatically Actuated Multi-Material Robotic Hand","display_name":"Directly 3D Printed, Pneumatically Actuated Multi-Material Robotic Hand","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413730","doi":"https://doi.org/10.1109/icra57147.2024.10610016"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5030506105","display_name":"Hanna Matusik","orcid":"https://orcid.org/0009-0001-4212-3901"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanna Matusik","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664416","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0696-3943"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2986","last_page":"2992"},"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9908000230789185,"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/3d-printed","display_name":"3d printed","score":0.8619509935379028},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5930864810943604},{"id":"https://openalex.org/keywords/pneumatics","display_name":"Pneumatics","score":0.5427901744842529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5226407051086426},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.5142195224761963},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.48782017827033997},{"id":"https://openalex.org/keywords/3d-printer","display_name":"3d printer","score":0.45361968874931335},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4376784563064575},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.436550498008728},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.38724058866500854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37409308552742004},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3175477981567383},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30935555696487427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2609128952026367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2005387246608734}],"concepts":[{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.8619509935379028},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5930864810943604},{"id":"https://openalex.org/C2777380305","wikidata":"https://www.wikidata.org/wiki/Q211500","display_name":"Pneumatics","level":2,"score":0.5427901744842529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5226407051086426},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.5142195224761963},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.48782017827033997},{"id":"https://openalex.org/C2984377249","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printer","level":2,"score":0.45361968874931335},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4376784563064575},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.436550498008728},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.38724058866500854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37409308552742004},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3175477981567383},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30935555696487427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2609128952026367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2005387246608734}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321317","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1601350759","https://openalex.org/W1888892744","https://openalex.org/W1984237968","https://openalex.org/W2007924815","https://openalex.org/W2048058874","https://openalex.org/W2096514536","https://openalex.org/W2166585449","https://openalex.org/W2558807622","https://openalex.org/W2560704029","https://openalex.org/W2585344004","https://openalex.org/W2593610497","https://openalex.org/W2807254784","https://openalex.org/W2810773383","https://openalex.org/W2922426839","https://openalex.org/W3127172103","https://openalex.org/W4200213509","https://openalex.org/W4376605696"],"related_works":["https://openalex.org/W2731041209","https://openalex.org/W2793811969","https://openalex.org/W4316617582","https://openalex.org/W2625482529","https://openalex.org/W3012708206","https://openalex.org/W3161828615","https://openalex.org/W3043226319","https://openalex.org/W3131618301","https://openalex.org/W2568274077","https://openalex.org/W4401413730"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,20,47],"manipulators":[2],"with":[3,22,49,127],"many":[4],"degrees":[5,24],"of":[6,18,25,42,66],"freedom":[7,26],"can":[8,94,113],"carry":[9],"out":[10],"complex":[11,29],"tasks":[12],"safely":[13],"around":[14],"humans.":[15],"However,":[16],"manufacturing":[17,103],"soft":[19,90],"hands":[21],"several":[23],"requires":[27],"a":[28,40,43,64,100,128],"multi-step":[30],"manual":[31],"process,":[32],"which":[33],"significantly":[34],"increases":[35],"their":[36],"cost.":[37],"We":[38,121],"present":[39],"design":[41,57,93],"multi-material":[44,101],"15":[45,59],"DoF":[46],"hand":[48,112,124],"five":[50],"fingers":[51],"including":[52],"an":[53,73],"opposable":[54],"thumb.":[55],"Our":[56],"has":[58],"pneumatic":[60],"actuators":[61],"based":[62],"on":[63,133],"series":[65],"hollow":[67],"chambers":[68],"that":[69],"are":[70],"driven":[71],"by":[72],"external":[74],"pressure":[75],"system.":[76],"The":[77,92],"thumb":[78],"utilizes":[79],"rigid":[80,87],"joints":[81],"and":[82,89,109],"the":[83,123],"palm":[84],"features":[85],"internal":[86],"structure":[88],"skin.":[91],"be":[95,114],"directly":[96],"3D":[97],"printed":[98],"using":[99],"additive":[102],"process":[104,108],"without":[105],"any":[106],"assembly":[107],"therefore":[110],"our":[111],"manufactured":[115],"for":[116],"less":[117],"than":[118],"300":[119],"dollars.":[120],"test":[122],"in":[125],"conjunction":[126],"low-cost":[129],"vision-based":[130],"teleoperation":[131],"system":[132],"different":[134],"tasks.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}