{"id":"https://openalex.org/W2783828029","doi":"https://doi.org/10.1109/icumt.2017.8255117","title":"From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands","display_name":"From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783828029","doi":"https://doi.org/10.1109/icumt.2017.8255117","mag":"2783828029"},"language":"en","primary_location":{"id":"doi:10.1109/icumt.2017.8255117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icumt.2017.8255117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 9th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11568/919004","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050576327","display_name":"Giuseppe Averta","orcid":"https://orcid.org/0000-0003-1212-3465"},"institutions":[{"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"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe Averta","raw_affiliation_strings":["Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Fondazione Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026792374","display_name":"Edoardo Battaglia","orcid":"https://orcid.org/0000-0002-1445-3962"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Edoardo Battaglia","raw_affiliation_strings":["Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006951591","display_name":"Simone Ciotti","orcid":"https://orcid.org/0000-0003-1418-8553"},"institutions":[{"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"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Ciotti","raw_affiliation_strings":["Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Fondazione Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037157112","display_name":"Visar Arapi","orcid":"https://orcid.org/0000-0003-0266-185X"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Visar Arapi","raw_affiliation_strings":["Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005260466","display_name":"Simone Fani","orcid":"https://orcid.org/0000-0003-1801-7831"},"institutions":[{"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"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Fani","raw_affiliation_strings":["Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","Fondazione Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE.Piaggio\u201d, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004273214","display_name":"Matteo Bianchi","orcid":"https://orcid.org/0000-0003-4747-1697"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bianchi","raw_affiliation_strings":["Department of Information Engineering, University of Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050576327"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238","https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.5127,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6505295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"18","issue":null,"first_page":"179","last_page":"184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9950000047683716,"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/grasp","display_name":"GRASP","score":0.8006418943405151},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6723621487617493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485674381256104},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6166594624519348},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.582898736000061},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.582434892654419},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5606154203414917},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.4997673034667969},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48467519879341125},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46519243717193604},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.42272618412971497},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25586915016174316},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.09490939974784851}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8006418943405151},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6723621487617493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485674381256104},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6166594624519348},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.582898736000061},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.582434892654419},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5606154203414917},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.4997673034667969},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48467519879341125},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46519243717193604},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.42272618412971497},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25586915016174316},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.09490939974784851},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icumt.2017.8255117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icumt.2017.8255117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 9th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/919004","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/919004","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/919004","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/919004","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Life in Land","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1969583232","https://openalex.org/W1981699474","https://openalex.org/W1981975970","https://openalex.org/W1993609652","https://openalex.org/W2026640515","https://openalex.org/W2045484898","https://openalex.org/W2061364557","https://openalex.org/W2099370259","https://openalex.org/W2107334669","https://openalex.org/W2150823344","https://openalex.org/W2154006563","https://openalex.org/W2162870748","https://openalex.org/W2164575107","https://openalex.org/W2261736307","https://openalex.org/W2290761674","https://openalex.org/W2310704944","https://openalex.org/W2737146053","https://openalex.org/W2744608580","https://openalex.org/W2753884863","https://openalex.org/W6645743145"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W3133406196","https://openalex.org/W4386395740"],"abstract_inverted_index":{"Human":[0],"hands":[1,27],"are":[2],"capable":[3],"of":[4,7,20,86,135],"a":[5,61,76],"variety":[6],"movements,":[8],"thanks":[9],"to":[10,40,49,57,82,104],"their":[11],"extraordinary":[12],"biomechanical":[13],"structure":[14],"and":[15,42,74,94,124,133],"relying":[16],"on":[17,80],"the":[18,34,67,84],"richness":[19],"human":[21,51],"tactile":[22,118],"information.":[23],"Recently,":[24],"soft":[25,136],"robotic":[26],"have":[28,64],"opened":[29],"exciting":[30],"possibilities":[31],"and,":[32],"at":[33],"same":[35],"time,":[36],"new":[37],"issues":[38],"related":[39],"planning":[41],"control.":[43],"In":[44],"this":[45],"work,":[46],"we":[47],"propose":[48],"study":[50],"strategies":[52,91,102],"in":[53,96,107],"environmental":[54],"constraint":[55],"exploitation":[56],"grasp":[58,122],"objects":[59],"from":[60],"table.":[62],"We":[63],"considered":[65],"both":[66,108,121],"case":[68],"where":[69],"participants'":[70],"fingertips":[71],"were":[72,92],"free":[73],"with":[75],"rigid":[77],"shell":[78],"worn":[79],"them":[81],"understand":[83],"role":[85],"cutaneous":[87],"touch.":[88],"Main":[89],"kinematic":[90],"quantified":[93],"classified":[95],"an":[97],"unsupervised":[98],"manner.":[99],"The":[100],"principal":[101],"appear":[103],"be":[105],"consistent":[106],"experimental":[109],"conditions,":[110],"although":[111],"cluster":[112],"cardinality":[113],"differs.":[114],"Furthermore,":[115],"as":[116],"expected,":[117],"feedback":[119],"improves":[120],"precision":[123],"quality":[125],"performance.":[126],"Results":[127],"opens":[128],"interesting":[129],"perspective":[130],"for":[131],"sensing":[132],"control":[134],"manipulators.":[137]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}