{"id":"https://openalex.org/W2140767468","doi":"https://doi.org/10.1109/iros.2010.5650866","title":"Port-hamiltonian modeling for soft-finger manipulation","display_name":"Port-hamiltonian modeling for soft-finger manipulation","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2140767468","doi":"https://doi.org/10.1109/iros.2010.5650866","mag":"2140767468"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/5504973/1441.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065563904","display_name":"Fanny Ficuciello","orcid":"https://orcid.org/0000-0001-9214-9977"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F Ficuciello","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 degli Studi di Napoli Federico II, Italy","Dipartimento di Informatica e Sistemistica, Universit\u00e0 degli Studi di Napoli Federico II, , Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 degli Studi di Napoli Federico II, Italy","institution_ids":["https://openalex.org/I71267560"]},{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 degli Studi di Napoli Federico II, , Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061618118","display_name":"Raffaella Carloni","orcid":"https://orcid.org/0000-0002-6051-4332"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"R Carloni","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020350798","display_name":"Ludo C. Visser","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"L C Visser","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"S Stramigioli","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4444,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.86453401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4281","last_page":"4286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9961000084877014,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.582801103591919},{"id":"https://openalex.org/keywords/port","display_name":"Port (circuit theory)","score":0.5135393142700195},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22814542055130005},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17789652943611145}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.582801103591919},{"id":"https://openalex.org/C32802771","wikidata":"https://www.wikidata.org/wiki/Q2443617","display_name":"Port (circuit theory)","level":2,"score":0.5135393142700195},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22814542055130005},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17789652943611145}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5650866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650866","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:publications/63960ccb-6243-479b-bd80-4f5f3f971e6b","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/63960ccb-6243-479b-bd80-4f5f3f971e6b","pdf_url":"https://ris.utwente.nl/ws/files/5504973/1441.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ficuciello, F, Carloni, R, Visser, L C & Stramigioli, S 2010, Port-Hamiltonian modeling for soft-finger manipulation. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, USA, pp. 4281-4286, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 18/10/10. https://doi.org/10.1109/IROS.2010.5650866","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:publications/63960ccb-6243-479b-bd80-4f5f3f971e6b","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/63960ccb-6243-479b-bd80-4f5f3f971e6b","pdf_url":"https://ris.utwente.nl/ws/files/5504973/1441.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ficuciello, F, Carloni, R, Visser, L C & Stramigioli, S 2010, Port-Hamiltonian modeling for soft-finger manipulation. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, USA, pp. 4281-4286, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 18/10/10. https://doi.org/10.1109/IROS.2010.5650866","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8899999856948853,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G7641124661","display_name":null,"funder_award_id":"BSIK03021","funder_id":"https://openalex.org/F4320321780","funder_display_name":"Ministerie van Economische Zaken"},{"id":"https://openalex.org/G8479684339","display_name":"DEXterous and autonomous dual-arm/hand robotic manipulation\\nwith sMART sensory-motor skills: A bridge from natural to artificial cognition","funder_award_id":"216239","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321780","display_name":"Ministerie van Economische Zaken","ror":"https://ror.org/00bc6bw85"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2140767468.pdf","grobid_xml":"https://content.openalex.org/works/W2140767468.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W232591495","https://openalex.org/W1547215941","https://openalex.org/W1550147906","https://openalex.org/W1560270123","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2014497198","https://openalex.org/W2017280345","https://openalex.org/W2121020528","https://openalex.org/W2162393414","https://openalex.org/W2162427234","https://openalex.org/W2169476413","https://openalex.org/W2494118737","https://openalex.org/W3041175760","https://openalex.org/W4214690803","https://openalex.org/W6723221463"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2753223082","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W3025119703","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,9,31,39],"port-Hamiltonian":[6],"model":[7,84],"of":[8,24,56,89],"multi-fingered":[10],"robotic":[11],"hand,":[12],"with":[13],"soft-pads,":[14],"while":[15],"grasping":[16],"and":[17,49,59,85],"manipulating":[18],"an":[19,68],"object.":[20],"The":[21],"algebraic":[22],"constraints":[23],"the":[25,44,54,64,77,83,87,90],"interconnected":[26],"systems":[27],"are":[28],"represented":[29],"by":[30,52],"geometric":[32],"object,":[33],"called":[34],"Dirac":[35],"structure.":[36],"This":[37],"provides":[38],"powerful":[40],"way":[41],"to":[42,46,75],"describe":[43],"non-contact":[45],"contact":[47,50],"transition":[48],"viscoelasticity,":[51],"using":[53],"concepts":[55],"energy":[57],"flows":[58],"power":[60],"preserving":[61],"interconnections.":[62],"Using":[63],"port":[65],"based":[66],"model,":[67],"Intrinsically":[69],"Passive":[70],"Controller":[71],"(IPC)":[72],"is":[73],"used":[74],"control":[76],"internal":[78],"forces.":[79],"Simulation":[80],"results":[81],"validate":[82],"demonstrate":[86],"effectiveness":[88],"port-based":[91],"approach.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
