{"id":"https://openalex.org/W2212932033","doi":"https://doi.org/10.1109/iros.2015.7353683","title":"Suction helps in a pinch: Improving underwater manipulation with gentle suction flow","display_name":"Suction helps in a pinch: Improving underwater manipulation with gentle suction flow","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2212932033","doi":"https://doi.org/10.1109/iros.2015.7353683","mag":"2212932033"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5021360260","display_name":"Hannah S. Stuart","orcid":"https://orcid.org/0000-0003-4628-6561"},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hannah S. Stuart","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089835016","display_name":"Matteo Bagheri","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matteo Bagheri","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398998","display_name":"Shiquan Wang","orcid":"https://orcid.org/0000-0003-3245-4579"},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiquan Wang","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068010494","display_name":"H. R. Barnard","orcid":"https://orcid.org/0000-0002-6377-5191"},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heather Barnard","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020729019","display_name":"Audrey L. Sheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Audrey L. Sheng","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015262799","display_name":"Merritt Jenkins","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Merritt Jenkins","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I4210099845","display_name":"Center for Health Design","ror":"https://ror.org/01v5nrd60","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210099845"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R. Cutkosky","raw_affiliation_strings":["Center for Design Research - Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Design Research - Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I4210099845","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.045,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88331757,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2279","last_page":"2284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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/suction","display_name":"Suction","score":0.7728383541107178},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.6166700720787048},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5826315879821777},{"id":"https://openalex.org/keywords/lubrication","display_name":"Lubrication","score":0.5697551965713501},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.521240770816803},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.513587474822998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5131159424781799},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4783850908279419},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.46987229585647583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4542255699634552},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4370499849319458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31595319509506226},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2688021659851074},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17166054248809814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15370243787765503},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13514065742492676}],"concepts":[{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.7728383541107178},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.6166700720787048},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5826315879821777},{"id":"https://openalex.org/C184608416","wikidata":"https://www.wikidata.org/wiki/Q1455803","display_name":"Lubrication","level":2,"score":0.5697551965713501},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.521240770816803},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.513587474822998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5131159424781799},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4783850908279419},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.46987229585647583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4542255699634552},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4370499849319458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31595319509506226},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2688021659851074},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17166054248809814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15370243787765503},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13514065742492676},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6","score":0.47999998927116394}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322320","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1881109849","https://openalex.org/W1982637952","https://openalex.org/W1998278092","https://openalex.org/W2004220507","https://openalex.org/W2007431167","https://openalex.org/W2011458720","https://openalex.org/W2027504643","https://openalex.org/W2038447902","https://openalex.org/W2058902184","https://openalex.org/W2125330343","https://openalex.org/W2127581426","https://openalex.org/W2144573888","https://openalex.org/W2155337985","https://openalex.org/W2157049451","https://openalex.org/W2160864708","https://openalex.org/W2165302798","https://openalex.org/W2185619721","https://openalex.org/W2331851865","https://openalex.org/W4210660029"],"related_works":["https://openalex.org/W2892546005","https://openalex.org/W4312555732","https://openalex.org/W2095492957","https://openalex.org/W2567010246","https://openalex.org/W4237408708","https://openalex.org/W2052350261","https://openalex.org/W2745924412","https://openalex.org/W127711702","https://openalex.org/W2010352328","https://openalex.org/W3107478415"],"abstract_inverted_index":{"Pinching":[0],"is":[1],"an":[2],"important":[3],"capability":[4],"for":[5,78],"mobile":[6],"robots":[7],"handling":[8,31],"small":[9],"items":[10],"or":[11],"tools.":[12],"Successful":[13],"pinching":[14],"requires":[15],"force-closure":[16],"and,":[17],"in":[18],"underwater":[19],"applications,":[20],"gentle":[21],"suction":[22,66],"flow":[23,50],"at":[24],"the":[25,30,37,49],"fingertips":[26],"can":[27,57,72],"dramatically":[28],"improve":[29],"of":[32,40,54],"light":[33],"objects":[34],"by":[35],"counteracting":[36],"negative":[38],"effects":[39],"water":[41],"lubrication":[42],"and":[43,56],"enhancing":[44],"friction.":[45],"In":[46],"addition,":[47],"monitoring":[48],"gives":[51],"a":[52,60,65],"measure":[53],"suction-engagement":[55],"act":[58],"as":[59,74],"binary":[61],"tactile":[62],"sensor.":[63],"Although":[64],"system":[67],"adds":[68],"complexity,":[69],"elastic":[70],"tubes":[71],"double":[73],"passive":[75],"spring":[76],"elements":[77],"desired":[79],"finger":[80],"kinematics.":[81]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}