{"id":"https://openalex.org/W2772941398","doi":"https://doi.org/10.1109/iros.2017.8206538","title":"Development and grasp analysis of a sensorized underactuated finger","display_name":"Development and grasp analysis of a sensorized underactuated finger","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772941398","doi":"https://doi.org/10.1109/iros.2017.8206538","mag":"2772941398"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206538","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/A5079669012","display_name":"Mahyar Abdeetedal","orcid":"https://orcid.org/0000-0003-4186-5230"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mahyar Abdeetedal","raw_affiliation_strings":["Faculty of Electrical and Computer Engineering, Western University, London, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Engineering, Western University, London, Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018767588","display_name":"Mehrdad R. Kermani","orcid":"https://orcid.org/0000-0003-0513-9485"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad R. Kermani","raw_affiliation_strings":["Faculty of Electrical and Computer Engineering, Western University, London, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Engineering, Western University, London, Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079669012"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":0.8154,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75589594,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6331","last_page":"6336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9983000159263611,"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/underactuation","display_name":"Underactuation","score":0.9270778894424438},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7299016118049622},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100610494613647},{"id":"https://openalex.org/keywords/potentiometer","display_name":"Potentiometer","score":0.5875465869903564},{"id":"https://openalex.org/keywords/prosthetic-hand","display_name":"Prosthetic hand","score":0.46754971146583557},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4622954726219177},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41745099425315857},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37195301055908203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2908073663711548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2580796182155609},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16003331542015076},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0823032557964325},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08071678876876831}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9270778894424438},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7299016118049622},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100610494613647},{"id":"https://openalex.org/C27728234","wikidata":"https://www.wikidata.org/wiki/Q187868","display_name":"Potentiometer","level":3,"score":0.5875465869903564},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.46754971146583557},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4622954726219177},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41745099425315857},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37195301055908203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2908073663711548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2580796182155609},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16003331542015076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0823032557964325},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08071678876876831},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"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.2017.8206538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206538","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"},{"id":"pmh:oai:ir.lib.uwo.ca:electricalpub-1556","is_oa":false,"landing_page_url":"https://ir.lib.uwo.ca/electricalpub/548","pdf_url":null,"source":{"id":"https://openalex.org/S4306400648","display_name":"Scholarship@Western (Western University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I125749732","host_organization_name":"Western University","host_organization_lineage":["https://openalex.org/I125749732"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Electrical and Computer Engineering Publications","raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W7977213","https://openalex.org/W971303027","https://openalex.org/W1881109849","https://openalex.org/W1967506722","https://openalex.org/W2029979841","https://openalex.org/W2070787044","https://openalex.org/W2072749588","https://openalex.org/W2122482519","https://openalex.org/W2466115735","https://openalex.org/W4210660029","https://openalex.org/W4388297216"],"related_works":["https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286","https://openalex.org/W2356609868","https://openalex.org/W4200004409","https://openalex.org/W2312966598","https://openalex.org/W2108345668"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,40,45,54,71,79],"design":[4,15,92],"and":[5,34,57,63,74,85,96,104],"evaluation":[6],"of":[7,44,70,90],"a":[8,17,35],"new":[9],"sensorized":[10],"underactuated":[11,23],"self-adaptive":[12],"finger.":[13],"Our":[14],"incorporates":[16],"two":[18],"degrees-of-freedom":[19],"(DOF)":[20],"parallel":[21],"based":[22],"mechanism":[24],"with":[25],"an":[26],"embedded":[27],"load":[28],"cell":[29],"for":[30],"contact":[31],"force":[32],"measurement":[33],"trimmer":[36],"potentiometer":[37],"to":[38,48,81],"acquire":[39],"joint":[41],"variables.":[42],"Integration":[43],"sensors":[46],"leads":[47],"tactile":[49,105],"feedback":[50],"fidelity":[51],"without":[52],"compromising":[53],"finger":[55,80],"size":[56],"complexity":[58],"which":[59],"results":[60,99],"in":[61],"efficient":[62],"robust":[64],"functionality.":[65],"The":[66,88],"particular":[67],"rounded":[68],"shape":[69,102],"distal":[72],"phalanx":[73],"high":[75],"equilibrium":[76],"position":[77],"enable":[78],"deliver":[82],"both":[83],"precision":[84],"power":[86],"grasps.":[87],"effectiveness":[89],"our":[91],"is":[93],"verified":[94],"theoretically":[95],"through":[97],"experimental":[98],"demonstrating":[100],"its":[101],"adaptability,":[103],"capability.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}