{"id":"https://openalex.org/W1984237968","doi":"https://doi.org/10.1109/iros.2008.4650624","title":"Multisensory five-finger dexterous hand: The DLR/HIT Hand II","display_name":"Multisensory five-finger dexterous hand: The DLR/HIT Hand II","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W1984237968","doi":"https://doi.org/10.1109/iros.2008.4650624","mag":"1984237968"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5066053340","display_name":"H. Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Liu","raw_affiliation_strings":["German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102972083","display_name":"Ke Wu","orcid":"https://orcid.org/0000-0003-3513-0860"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Wu","raw_affiliation_strings":["German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060142002","display_name":"P. Meusel","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"P. Meusel","raw_affiliation_strings":["German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027463637","display_name":"Nikolaus Seitz","orcid":"https://orcid.org/0000-0003-0634-9839"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N. Seitz","raw_affiliation_strings":["German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113442349","display_name":"G. Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Hirzinger","raw_affiliation_strings":["German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, DLR, Institute of Robotics and Mechatronics, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101525971","display_name":"Minghe Jin","orcid":"https://orcid.org/0000-0001-6643-2824"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"M.H. Jin","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005060223","display_name":"Yabo Liu","orcid":"https://orcid.org/0000-0001-6647-9817"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y.W. Liu","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041821105","display_name":"Shaowei Fan","orcid":"https://orcid.org/0000-0003-0058-2904"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"S.W. Fan","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102716565","display_name":"Tian Lan","orcid":"https://orcid.org/0000-0002-7003-7795"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"T. Lan","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058059278","display_name":"Zhijun Chen","orcid":"https://orcid.org/0000-0002-6726-9296"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z.P. Chen","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology, Harbin, China","Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, HIT, 150001 China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.5331,"has_fulltext":false,"cited_by_count":353,"citation_normalized_percentile":{"value":0.99383845,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3692","last_page":"3697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9984999895095825,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9932000041007996,"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/actuator","display_name":"Actuator","score":0.6014262437820435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5652218461036682},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.5389915108680725},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4551118016242981},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4230969548225403},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4110831618309021},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.41056588292121887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3744767904281616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2868574261665344}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6014262437820435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5652218461036682},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5389915108680725},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4551118016242981},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4230969548225403},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4110831618309021},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.41056588292121887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3744767904281616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2868574261665344},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2008.4650624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650624","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:55786","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6800000071525574,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1999597131","https://openalex.org/W2132086397","https://openalex.org/W2134167019","https://openalex.org/W6679643019"],"related_works":["https://openalex.org/W3027667018","https://openalex.org/W2018667201","https://openalex.org/W4205469505","https://openalex.org/W2665946888","https://openalex.org/W2729181762","https://openalex.org/W2570668074","https://openalex.org/W2625202073","https://openalex.org/W2276714770","https://openalex.org/W2149699537","https://openalex.org/W2144333659"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"new":[4],"developed":[5],"multisensory":[6,107],"five-fingered":[7],"dexterous":[8,108],"robot":[9],"hand:":[10],"the":[11,35,42,46,65,75,79,85,89,98,103,106,121,125,128,131,135,155,159,165,172,183,189],"DLR/HIT":[12,80],"Hand":[13,81],"II.":[14],"The":[15,116,140,179],"hand":[16,109,122,141,160,173,184],"has":[17,28],"an":[18],"independent":[19],"palm":[20,132,169],"and":[21,31,37,45,59,63,113,134,149,168,175,188],"five":[22],"identical":[23],"modular":[24],"fingers,":[25],"each":[26],"finger":[27,43,77,126,129,166],"three":[29],"DOFs":[30],"four":[32],"joints.":[33],"All":[34],"actuators":[36],"electronics":[38],"are":[39],"integrated":[40],"in":[41,78,97,164],"body":[44,167],"palm.":[47],"By":[48,83],"using":[49,84],"powerful":[50],"super":[51],"flat":[52],"brushless":[53],"DC":[54],"motors,":[55],"tiny":[56],"harmonic":[57],"drivers":[58],"BGA":[60],"form":[61],"DSPs":[62],"FPGAs,":[64,130],"whole":[66,99,180],"fingerpsilas":[67],"size":[68],"is":[69,94,161,185],"about":[70,186],"one":[71],"third":[72],"smaller":[73,174],"than":[74],"former":[76],"I.":[82],"steel":[86],"coupling":[87],"mechanism,":[88],"phalanx":[90],"distalpsilas":[91],"transmission":[92],"ratio":[93],"exact":[95],"1:1":[96],"movement":[100],"range.":[101],"At":[102],"same":[104],"time,":[105],"integrates":[110],"position,":[111],"force/torque":[112],"temperature":[114],"sensors.":[115],"hierarchical":[117],"hardware":[118],"structure":[119],"of":[120,124,152,158,182],"consists":[123],"DSPs,":[127],"FPGA":[133],"PCI":[136],"based":[137],"DSP/FPGA":[138],"board.":[139],"can":[142,192],"communicate":[143],"with":[144,146],"external":[145],"PPSeCo,":[147],"CAN":[148],"Internet.":[150],"Instead":[151],"extra":[153],"cover,":[154],"packing":[156],"mechanism":[157],"implemented":[162],"directly":[163],"to":[170],"make":[171],"more":[176],"human":[177],"like.":[178],"weight":[181],"1.5Kg":[187],"fingertip":[190],"force":[191],"reach":[193],"10N.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":33},{"year":2018,"cited_by_count":17},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":24},{"year":2015,"cited_by_count":27},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":19}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}