{"id":"https://openalex.org/W2774365095","doi":"https://doi.org/10.1109/iros.2017.8202294","title":"Automated co-design of soft hand morphology and control strategy for grasping","display_name":"Automated co-design of soft hand morphology and control strategy for grasping","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774365095","doi":"https://doi.org/10.1109/iros.2017.8202294","mag":"2774365095"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5065816069","display_name":"Raphael Deimel","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Raphael Deimel","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059161193","display_name":"Patrick Irmisch","orcid":"https://orcid.org/0009-0004-3621-530X"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Irmisch","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014725958","display_name":"Vincent Wall","orcid":"https://orcid.org/0000-0003-1234-3521"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vincent Wall","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039143538","display_name":"Oliver Brock","orcid":"https://orcid.org/0000-0002-3719-7754"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Brock","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065816069"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":1.4272,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.83555625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9998999834060669,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.8115557432174683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6410502791404724},{"id":"https://openalex.org/keywords/precondition","display_name":"Precondition","score":0.5618252754211426},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5004732608795166},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4462772011756897},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3617497682571411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34247446060180664},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33411699533462524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2139941155910492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14567789435386658}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.8115557432174683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410502791404724},{"id":"https://openalex.org/C192465680","wikidata":"https://www.wikidata.org/wiki/Q1413450","display_name":"Precondition","level":2,"score":0.5618252754211426},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5004732608795166},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4462772011756897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3617497682571411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34247446060180664},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33411699533462524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2139941155910492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14567789435386658},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8202294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1515749184","https://openalex.org/W1823791555","https://openalex.org/W1888892744","https://openalex.org/W1969583232","https://openalex.org/W1983449914","https://openalex.org/W2022760091","https://openalex.org/W2029744358","https://openalex.org/W2037867075","https://openalex.org/W2048058874","https://openalex.org/W2082232304","https://openalex.org/W2129908076","https://openalex.org/W2152195021","https://openalex.org/W2155337985","https://openalex.org/W2158730742","https://openalex.org/W2162142021","https://openalex.org/W2162556257","https://openalex.org/W2295482886","https://openalex.org/W2296486637","https://openalex.org/W2490431186","https://openalex.org/W2543580944","https://openalex.org/W2556078315","https://openalex.org/W2564818611","https://openalex.org/W2589689440","https://openalex.org/W2745240949","https://openalex.org/W2963170432","https://openalex.org/W6638668618"],"related_works":["https://openalex.org/W4234084457","https://openalex.org/W2366909363","https://openalex.org/W4296285654","https://openalex.org/W2623347760","https://openalex.org/W3034138874","https://openalex.org/W2743342830","https://openalex.org/W2362192218","https://openalex.org/W1991466308","https://openalex.org/W4312992234","https://openalex.org/W2948262272"],"abstract_inverted_index":{"To":[0],"leverage":[1],"soft":[2,58,70,103],"hands":[3,71,104],"to":[4,12,29,33,44,52,82],"their":[5,14,106],"full":[6],"potential":[7],"for":[8,57,66],"grasping,":[9],"we":[10],"propose":[11],"design":[13],"morphology":[15],"and":[16,27,79,105],"control":[17,107],"signals":[18],"together.":[19],"Considering":[20],"both":[21],"parameter":[22,46],"domains":[23],"makes":[24],"it":[25],"easier":[26],"faster":[28],"find":[30],"solutions":[31],"compared":[32],"fixing":[34],"parameters":[35],"of":[36,101],"either":[37],"domain.":[38],"Additionally,":[39],"the":[40,76,99,109],"approach":[41],"scales":[42],"well":[43],"high-dimensional":[45],"spaces,":[47],"which":[48,72],"is":[49,73],"a":[50,86,96],"precondition":[51],"make":[53],"automated":[54],"co-design":[55],"useful":[56],"hands.":[59],"We":[60],"further":[61],"present":[62],"an":[63],"efficient":[64],"simulator":[65],"simulating":[67],"grasps":[68,88],"with":[69],"based":[74],"on":[75],"SOFA":[77],"framework":[78],"enables":[80],"us":[81],"simulate":[83],"more":[84],"than":[85],"million":[87],"per":[89],"day.":[90],"These":[91],"two":[92],"complementary":[93],"improvements":[94],"promise":[95],"boost":[97],"in":[98,108],"development":[100],"competent":[102],"future.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
