{"id":"https://openalex.org/W4388737061","doi":"https://doi.org/10.1109/iecon51785.2023.10312018","title":"Soft Enveloping Gripper Driving Several Fingers by 3D Snap Through Buckling Mechanism","display_name":"Soft Enveloping Gripper Driving Several Fingers by 3D Snap Through Buckling Mechanism","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4388737061","doi":"https://doi.org/10.1109/iecon51785.2023.10312018"},"language":"en","primary_location":{"id":"doi:10.1109/iecon51785.2023.10312018","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iecon51785.2023.10312018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","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/A5010034978","display_name":"Hiroki Hanamori","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Hanamori","raw_affiliation_strings":["Kyushu University,Fukuoka,Japan","Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Fukuoka,Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101533766","display_name":"Akihiro Kawamura","orcid":"https://orcid.org/0000-0003-4521-235X"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihiro Kawamura","raw_affiliation_strings":["Kyushu University,Fukuoka,Japan","Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Fukuoka,Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073445963","display_name":"Ryo Kurazume","orcid":"https://orcid.org/0000-0002-4219-7644"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Kurazume","raw_affiliation_strings":["Kyushu University,Fukuoka,Japan","Kyushu University, Fukuoka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Fukuoka,Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14918733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9987999796867371,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987000226974487,"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/grasp","display_name":"GRASP","score":0.8897204399108887},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6514438390731812},{"id":"https://openalex.org/keywords/envelope","display_name":"Envelope (radar)","score":0.6486257314682007},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6247955560684204},{"id":"https://openalex.org/keywords/buckling","display_name":"Buckling","score":0.5793015956878662},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5788425207138062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5437184572219849},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.45500800013542175},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38972049951553345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3779473304748535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3244577646255493},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2877815067768097},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2761368155479431},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11038622260093689}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8897204399108887},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6514438390731812},{"id":"https://openalex.org/C65155139","wikidata":"https://www.wikidata.org/wiki/Q5380912","display_name":"Envelope (radar)","level":3,"score":0.6486257314682007},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6247955560684204},{"id":"https://openalex.org/C85476182","wikidata":"https://www.wikidata.org/wiki/Q693104","display_name":"Buckling","level":2,"score":0.5793015956878662},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5788425207138062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5437184572219849},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.45500800013542175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38972049951553345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3779473304748535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3244577646255493},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2877815067768097},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2761368155479431},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11038622260093689},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon51785.2023.10312018","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iecon51785.2023.10312018","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society","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":26,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1900860620","https://openalex.org/W1902605501","https://openalex.org/W2007924815","https://openalex.org/W2025613329","https://openalex.org/W2054628872","https://openalex.org/W2118177844","https://openalex.org/W2236954786","https://openalex.org/W2296718990","https://openalex.org/W2519437300","https://openalex.org/W2625731136","https://openalex.org/W2765672642","https://openalex.org/W2769476360","https://openalex.org/W2783801667","https://openalex.org/W2962988122","https://openalex.org/W2973221891","https://openalex.org/W2975967750","https://openalex.org/W2994895732","https://openalex.org/W2997390665","https://openalex.org/W3028813881","https://openalex.org/W3039666384","https://openalex.org/W3089157110","https://openalex.org/W3111215109","https://openalex.org/W4253735485","https://openalex.org/W4255466541","https://openalex.org/W4360616557"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2384201945"],"abstract_inverted_index":{"It":[0],"is":[1,19,42,68,83,102,188],"difficult":[2,70,103],"to":[3,28,38,71,84,104,151,172,194,200],"automate":[4],"the":[5,34,43,52,55,64,73,86,94,143,147,152,166,169,196],"grasping":[6,18,24,41,49,130,197],"of":[7,54,79,146,168,222],"delicate":[8],"fruits":[9],"such":[10,25],"as":[11,113,115],"peaches,":[12],"which":[13,46],"require":[14],"sensitive":[15],"work.":[16],"Envelope":[17],"an":[20,220],"effective":[21],"approach":[22],"for":[23],"objects":[26,108,164],"due":[27,150,199],"its":[29,201],"large":[30,107,114],"contact":[31],"area":[32],"with":[33],"object.":[35],"A":[36],"method":[37,62,78,91,138],"realize":[39],"envelope":[40,129],"fingered":[44,117],"gripper,":[45],"can":[47,92,182],"perform":[48],"that":[50,66,127,189],"follows":[51],"shape":[53],"object":[56,87,95],"through":[57,155,204],"compliant":[58],"interaction.":[59],"However,":[60],"this":[61,120,160,208],"has":[63],"problem":[65],"it":[67,101,110,190],"structurally":[69],"fill":[72],"space":[74],"between":[75,98],"fingers.":[76,135],"Another":[77,186],"achieving":[80],"enveloping":[81],"grasp":[82,105],"envelop":[85],"by":[88],"membrane.":[89],"This":[90],"touch":[93],"without":[96,180],"gap":[97],"fingers,":[99],"but":[100],"unexpectedly":[106],"because":[109],"cannot":[111],"deform":[112],"a":[116,124,212],"gripper.":[118],"In":[119,207],"study,":[121],"we":[122,210],"propose":[123],"soft":[125],"gripper":[126],"realizes":[128],"while":[131],"largely":[132],"deforming":[133],"several":[134],"The":[136],"proposed":[137],"opens":[139],"and":[140,176,219],"closes":[141],"using":[142],"turning":[144],"over":[145],"hemispherical":[148,170],"shell":[149,171],"3D":[153],"snap":[154,203],"buckling":[156,205],"mechanism.":[157],"By":[158],"employing":[159],"mechanism,":[161],"allowing":[162],"all":[163],"touching":[165],"edge":[167],"be":[173,183],"moved":[174],"simultaneously":[175],"significantly,":[177],"fingers":[178],"arranged":[179],"gaps":[181],"deformed":[184],"largely.":[185],"advantage":[187],"requires":[191],"no":[192],"energy":[193],"maintain":[195],"state":[198],"bistable,":[202],"characteristics.":[206],"paper,":[209],"present":[211],"design":[213],"methodology":[214],"based":[215],"on":[216],"specific":[217],"examples":[218],"evaluation":[221],"performance.":[223]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
