{"id":"https://openalex.org/W2910282705","doi":"https://doi.org/10.1109/iros.2018.8594316","title":"Five-Fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints","display_name":"Five-Fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910282705","doi":"https://doi.org/10.1109/iros.2018.8594316","mag":"2910282705"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.17452","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013305466","display_name":"Shogo Makino","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shogo Makino","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113082382","display_name":"Ayaka Fujii","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ayaka Fujii","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103833453","display_name":"Masaya Kawamura","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaya Kawamura","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077026900","display_name":"Tasuku Makabe","orcid":"https://orcid.org/0000-0001-6668-0449"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tasuku Makabe","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028275081","display_name":"Moritaka Onitsuka","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Moritaka Onitsuka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044477785","display_name":"Yuki Asano","orcid":"https://orcid.org/0000-0003-2115-1417"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Asano","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792995","display_name":"Koji Kawasaki","orcid":"https://orcid.org/0000-0001-7807-8420"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koji Kawasaki","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5013305466"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.301,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82270565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4562","last_page":"4567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973000288009644,"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/thumb","display_name":"Thumb","score":0.7798084020614624},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7137900590896606},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.6071760654449463},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5523769855499268},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5498877763748169},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5413631200790405},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5226256847381592},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.4554254412651062},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.4552624523639679},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.44290098547935486},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4410002827644348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43982064723968506},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4004136621952057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3461295962333679},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3210645020008087},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31888043880462646},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.27572280168533325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2719380855560303},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12474334239959717},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11624062061309814},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08141392469406128}],"concepts":[{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.7798084020614624},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7137900590896606},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.6071760654449463},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5523769855499268},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5498877763748169},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5413631200790405},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5226256847381592},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.4554254412651062},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.4552624523639679},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.44290098547935486},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4410002827644348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43982064723968506},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4004136621952057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3461295962333679},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3210645020008087},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31888043880462646},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.27572280168533325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2719380855560303},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12474334239959717},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11624062061309814},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08141392469406128},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":2,"locations":[{"id":"doi:10.1109/iros.2018.8594316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2403.17452","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.17452","pdf_url":"https://arxiv.org/pdf/2403.17452","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.17452","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.17452","pdf_url":"https://arxiv.org/pdf/2403.17452","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1978360037","https://openalex.org/W2063149136","https://openalex.org/W2118191877","https://openalex.org/W2139086916","https://openalex.org/W2144573888","https://openalex.org/W2216198263","https://openalex.org/W2416254177","https://openalex.org/W2569517946","https://openalex.org/W2737990318","https://openalex.org/W2772679390","https://openalex.org/W2773160859","https://openalex.org/W2775012877","https://openalex.org/W6716503989"],"related_works":["https://openalex.org/W2024231062","https://openalex.org/W2360590843","https://openalex.org/W2647853011","https://openalex.org/W219744786","https://openalex.org/W2972186296","https://openalex.org/W4285251294","https://openalex.org/W1566538768","https://openalex.org/W2154435119","https://openalex.org/W4312906137","https://openalex.org/W2101561258"],"abstract_inverted_index":{"Human":[0],"hands":[1,16,53],"can":[2,27,66],"not":[3],"only":[4],"grasp":[5,67],"objects":[6,69],"of":[7,89,95,101,134,137,140,147,155,180],"various":[8,68,181],"shape":[9],"and":[10,12,39,70,91,103,113,144,168,187],"size":[11],"manipulate":[13],"them":[14],"in":[15,31,58,160,165],"but":[17],"also":[18],"exert":[19,71],"such":[20,34,77],"a":[21,37,41,184],"large":[22,72,110,185],"gripping":[23,73,111],"force":[24,112],"that":[25],"they":[26],"support":[28],"the":[29,32,44,63,82,92,99,107,125,138,173,178],"body":[30],"situations":[33],"as":[35],"dangling":[36],"bar":[38],"climbing":[40],"ladder.":[42],"On":[43],"other":[45],"hand,":[46,78,175],"it":[47],"is":[48],"difficult":[49],"for":[50],"most":[51],"robot":[52],"to":[54,124,162],"manage":[55],"both.":[56],"Therefore":[57],"this":[59],"paper":[60],"we":[61,79,118,176],"developed":[62,174],"hand":[64,108],"which":[65],"force.":[74],"To":[75],"develop":[76],"focused":[80],"on":[81,106],"thumb":[83,128],"CM":[84,129],"joint":[85,122,130,158,164],"with":[86,98,109,190],"wide":[87,132],"range":[88,133],"motion":[90,135],"MP":[93,145],"joints":[94,146],"four":[96,148],"fingers":[97,149],"DOF":[100],"abduction":[102],"adduction.":[104],"Based":[105],"flexibility":[114],"using":[115],"machined":[116,142],"spring,":[117],"applied":[119],"above":[120],"mentioned":[121],"mechanism":[123,153],"hand.":[126],"The":[127],"has":[131],"because":[136],"combination":[139],"three":[141],"springs":[143],"have":[150],"variable":[151],"rigidity":[152],"instead":[154],"driving":[156],"each":[157],"independently":[159],"order":[161],"move":[163],"limited":[166,170],"space":[167],"by":[169],"actuators.":[171],"Using":[172],"achieved":[177],"grasping":[179],"objects,":[182],"supporting":[183],"load":[186],"several":[188],"motions":[189],"an":[191],"arm.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
