{"id":"https://openalex.org/W1484892891","doi":"https://doi.org/10.1109/iros.2004.1389363","title":"Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1","display_name":"Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W1484892891","doi":"https://doi.org/10.1109/iros.2004.1389363","mag":"1484892891"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5063975635","display_name":"Stefano Roccella","orcid":"https://orcid.org/0000-0002-2738-8821"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"S. Roccella","raw_affiliation_strings":["Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067356214","display_name":"Maria Chiara Carrozza","orcid":"https://orcid.org/0000-0002-7630-0865"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M.C. Carrozza","raw_affiliation_strings":["Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027799526","display_name":"G. Cappiello","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Cappiello","raw_affiliation_strings":["Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089341000","display_name":"Massimiliano Zecca","orcid":"https://orcid.org/0000-0003-4741-4334"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. Zecca","raw_affiliation_strings":["ROBOCASA, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ROBOCASA, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043472048","display_name":"Hiroyasu Miwa","orcid":"https://orcid.org/0000-0001-8331-9225"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Miwa","raw_affiliation_strings":["Takanishi Lab, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Takanishi Lab, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105463634","display_name":"K. ltoh","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. ltoh","raw_affiliation_strings":["Takanishi Lab, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Takanishi Lab, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113595488","display_name":"M. Matsumoto","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Matsumoto","raw_affiliation_strings":["Takanishi Lab, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Takanishi Lab, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113483591","display_name":"Paolo Dario","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Dario","raw_affiliation_strings":["Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000821960","display_name":"John\u2010John Cabibihan","orcid":"https://orcid.org/0000-0001-5892-743X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"J.J. Cabibihan","raw_affiliation_strings":["Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seuola Superiore Sant'Anna, ARTS Lab, Pontedera (PI), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001014223","display_name":"A. Takanishi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A. Takanishi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.4675,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.99104574,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"266","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.996399998664856,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9091325402259827},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6885949969291687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5871582627296448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5685814619064331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5087314248085022},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.502169132232666},{"id":"https://openalex.org/keywords/the-arts","display_name":"The arts","score":0.43979552388191223},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4167725443840027},{"id":"https://openalex.org/keywords/arduino","display_name":"Arduino","score":0.41178613901138306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3653549551963806},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.3501587510108948},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.16016387939453125}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9091325402259827},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6885949969291687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5871582627296448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5685814619064331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5087314248085022},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.502169132232666},{"id":"https://openalex.org/C70789860","wikidata":"https://www.wikidata.org/wiki/Q2018526","display_name":"The arts","level":2,"score":0.43979552388191223},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4167725443840027},{"id":"https://openalex.org/C136501162","wikidata":"https://www.wikidata.org/wiki/Q175957","display_name":"Arduino","level":2,"score":0.41178613901138306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3653549551963806},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.3501587510108948},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.16016387939453125},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6399999856948853,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1515045415","https://openalex.org/W2004301693","https://openalex.org/W2103131854","https://openalex.org/W2117746219","https://openalex.org/W2120353831","https://openalex.org/W2156507789","https://openalex.org/W2166748902","https://openalex.org/W2531900594","https://openalex.org/W4205302717","https://openalex.org/W4285719527","https://openalex.org/W6728491952"],"related_works":["https://openalex.org/W4293241760","https://openalex.org/W2747703758","https://openalex.org/W2770439812","https://openalex.org/W2315986283","https://openalex.org/W2318293530","https://openalex.org/W2745063183","https://openalex.org/W2592512903","https://openalex.org/W2809920716","https://openalex.org/W2752001351","https://openalex.org/W4293926484"],"abstract_inverted_index":{"Among":[0],"social":[1],"infrastructure":[2],"technologies,":[3],"robot":[4],"technology":[5],"(RT)":[6],"is":[7,146],"expected":[8],"to":[9,41],"play":[10,69],"an":[11],"important":[12],"role":[13,72],"in":[14,29,37,73],"solving":[15],"the":[16,30,45,87,91,94,103,117],"problems":[17],"of":[18,21,26,48,54,90,97,106,119],"both":[19],"decrease":[20],"birth":[22],"rate":[23],"and":[24,80,102,112,131],"increase":[25],"elderly":[27],"people":[28],"21st":[31],"century,":[32],"specially":[33],"but":[34],"not":[35],"only":[36],"Japan.":[38],"In":[39,64,114],"order":[40],"achieve":[42],"this":[43,65,115],"objective,":[44],"new":[46],"generation":[47],"personal":[49],"robots":[50],"should":[51],"be":[52],"capable":[53],"a":[55,70,120,135],"natural":[56],"communication":[57],"with":[58],"humans":[59],"by":[60],"expressing":[61],"human-like":[62],"emotion.":[63],"sense,":[66],"human":[67],"hands":[68],"fundamental":[71],"communication,":[74],"because":[75],"they":[76],"have":[77],"grasping,":[78],"sensing":[79],"emotional":[81],"expression":[82],"ability.":[83],"This":[84],"paper":[85],"presents":[86],"recent":[88],"results":[89],"collaboration":[92],"between":[93],"Takanishi":[95],"Lab":[96,105],"Waseda":[98],"University,":[99],"Tokyo,":[100],"Japan,":[101],"Arts":[104],"Scuola":[107],"Superiore":[108],"Sant'Anna,":[109],"Pisa,":[110],"Italy,":[111],"ROBOCASA.":[113],"paper,":[116],"development":[118],"novel":[121],"anthropomorphic":[122],"hand":[123],"for":[124],"humanoid":[125,136],"robotics":[126],"RCH-1":[127],"(ROBOCASA":[128],"Hand":[129],"No.1)":[130],"its":[132],"integration":[133],"into":[134],"robotic":[137],"platform,":[138],"named":[139],"WE-4RII":[140],"(Waseda":[141],"Eye":[142],"No.4":[143],"Refined":[144],"II)":[145],"presented.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}