{"id":"https://openalex.org/W1966987857","doi":"https://doi.org/10.1109/iros.2010.5654010","title":"Development of a light duty arm with an active-fingertip gripper for handling discoid objects","display_name":"Development of a light duty arm with an active-fingertip gripper for handling discoid objects","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1966987857","doi":"https://doi.org/10.1109/iros.2010.5654010","mag":"1966987857"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5654010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5654010","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100613435/ATD100000413/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G Endo","raw_affiliation_strings":["Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080356868","display_name":"Hiroyuki Yamada","orcid":"https://orcid.org/0000-0002-3458-3190"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H Yamada","raw_affiliation_strings":["Grobal Edge Institute, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Grobal Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grobal Edge Institute, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Grobal Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076197622","display_name":"Shingo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S Hirose","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.09092576,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"2600","last_page":"2605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9918000102043152,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9656000137329102,"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/pulley","display_name":"Pulley","score":0.8803537487983704},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7559740543365479},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.686881422996521},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6431222558021545},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5648967623710632},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5378656983375549},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5265246629714966},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5264193415641785},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5158242583274841},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5013761520385742},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4510882496833801},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.42784956097602844},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40441811084747314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4011809229850769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.348017156124115},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34235185384750366},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.307325154542923},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29247570037841797}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.8803537487983704},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7559740543365479},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.686881422996521},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6431222558021545},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5648967623710632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5378656983375549},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5265246629714966},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5264193415641785},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5158242583274841},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5013761520385742},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4510882496833801},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.42784956097602844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40441811084747314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4011809229850769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.348017156124115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34235185384750366},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.307325154542923},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29247570037841797},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5654010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5654010","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:t2r2.star.titech.ac.jp:50121371","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100613435","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100613435/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:t2r2.star.titech.ac.jp:50121371","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100613435","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100613435/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"},"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W1966987857.pdf"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W1491014342","https://openalex.org/W2003390255","https://openalex.org/W2113676295","https://openalex.org/W2116320843","https://openalex.org/W2162408939","https://openalex.org/W2655691597","https://openalex.org/W4233973647","https://openalex.org/W6676998465"],"related_works":["https://openalex.org/W3034881631","https://openalex.org/W2196801576","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134","https://openalex.org/W1515399142","https://openalex.org/W2699559358","https://openalex.org/W4402911998","https://openalex.org/W4300849399","https://openalex.org/W2725184028"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,6,34,40,57,61,67,71,79,83,100,104,132],"development":[4],"of":[5,23,60,78,92],"light":[7],"duty":[8],"arm":[9,69],"with":[10,27,45,70],"an":[11],"active-fingertip":[12],"gripper":[13,43],"for":[14,103],"handling":[15],"discoid":[16,105],"objects.":[17],"The":[18],"system":[19,97],"is":[20,76],"potentially":[21],"capable":[22],"sharing":[24],"the":[25,31,95],"workspace":[26],"human":[28,133],"workers,":[29],"assuming":[30],"use":[32],"in":[33,51],"cell":[35],"manufacturing":[36],"system.":[37],"We":[38,64,116],"propose":[39],"new":[41],"3-DOF":[42],"mechanism":[44,74],"two":[46],"fingers":[47],"which":[48,75],"symmetrically":[49],"move":[50],"parallel":[52],"and":[53,82,113],"each":[54],"finger":[55],"has":[56],"2-DOF":[58],"fingertip":[59],"cylindrical":[62],"shape.":[63],"also":[65],"develop":[66],"lightweight":[68],"weight":[72],"compensation":[73],"composed":[77],"non-circular":[80],"pulley":[81],"spring":[84],"to":[85,110,131],"minimize":[86],"required":[87],"actuator":[88],"torque.":[89],"After":[90],"verification":[91],"basic":[93],"performance,":[94],"hand-arm":[96],"successfully":[98],"performs":[99],"pick-and-place":[101,121],"task":[102],"object":[106],"from":[107],"horizontal":[108],"placement":[109,112],"vertical":[111],"vice":[114],"versa.":[115],"demonstrate":[117],"continuous":[118],"100":[119],"times":[120],"operations":[122],"without":[123],"failure":[124],"where":[125],"its":[126],"cycle":[127],"time":[128],"almost":[129],"equals":[130],"worker.":[134]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}