{"id":"https://openalex.org/W4405785018","doi":"https://doi.org/10.1109/iros58592.2024.10801538","title":"Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger","display_name":"Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785018","doi":"https://doi.org/10.1109/iros58592.2024.10801538"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5017929920","display_name":"Junnan Li","orcid":"https://orcid.org/0009-0006-1154-657X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Junnan Li","raw_affiliation_strings":["Technische Universität München (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität München (TUM),Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100763475","display_name":"Lingyun Chen","orcid":"https://orcid.org/0000-0001-5736-7469"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lingyun Chen","raw_affiliation_strings":["Technische Universität München (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität München (TUM),Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066720396","display_name":"Johannes Ringwald","orcid":"https://orcid.org/0000-0002-9539-2558"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johannes Ringwald","raw_affiliation_strings":["Technische Universität München (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität München (TUM),Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019022835","display_name":"Edmundo Pozo Fortuni\u0107","orcid":"https://orcid.org/0000-0003-2717-8506"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Edmundo Pozo Fortuni\u0107","raw_affiliation_strings":["Technische Universität München (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität München (TUM),Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000235323","display_name":"Amartya Ganguly","orcid":"https://orcid.org/0000-0003-4093-1101"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amartya Ganguly","raw_affiliation_strings":["Technische Universität München (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität München (TUM),Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Technische Universität München (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität München (TUM),Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5017929920"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29738698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8330","last_page":"8337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9429000020027161,"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":0.9429000020027161,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6391078233718872},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6148771643638611},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.49800848960876465},{"id":"https://openalex.org/keywords/model-validation","display_name":"Model validation","score":0.43240228295326233},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15535056591033936},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.12289100885391235},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.09449073672294617},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07412773370742798}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6391078233718872},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6148771643638611},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.49800848960876465},{"id":"https://openalex.org/C3019813237","wikidata":"https://www.wikidata.org/wiki/Q65089264","display_name":"Model validation","level":2,"score":0.43240228295326233},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15535056591033936},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.12289100885391235},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09449073672294617},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07412773370742798},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311687","display_name":"Ministry of Education","ror":"https://ror.org/03m01yf64"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2010275933","https://openalex.org/W2042018949","https://openalex.org/W2044000204","https://openalex.org/W2055739638","https://openalex.org/W2060315118","https://openalex.org/W2082641899","https://openalex.org/W2085029715","https://openalex.org/W2092476666","https://openalex.org/W2102128645","https://openalex.org/W2110741537","https://openalex.org/W2166865390","https://openalex.org/W2416254177","https://openalex.org/W2471593887","https://openalex.org/W2764070480","https://openalex.org/W2811344858","https://openalex.org/W2890073930","https://openalex.org/W2892813098","https://openalex.org/W2921365471","https://openalex.org/W3113046080","https://openalex.org/W3117047542","https://openalex.org/W3182524172","https://openalex.org/W4294690838","https://openalex.org/W4307425569","https://openalex.org/W4391407064","https://openalex.org/W6779157403"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,58,142],"study":[1,143],"addresses":[2],"the":[3,26,34,50,105,110,119,124,130,149,166],"absence":[4],"of":[5,15,29,36,53,77,84,123,151,168],"an":[6,89],"identification":[7,81,106,150],"framework":[8],"to":[9,24,103,135,147,164],"quantify":[10],"a":[11,40,55,72,75,113,156,160],"comprehensive":[12],"dynamic":[13,42,86,140],"model":[14,43],"human":[16,30],"and":[17,32,66,82,94,100,129,137],"anthropomorphic":[18],"tendon-driven":[19],"fingers,":[20],"which":[21,46],"is":[22],"necessary":[23],"investigate":[25],"physiological":[27],"properties":[28,52],"fingers":[31],"improve":[33,165],"control":[35],"robotic":[37,115],"hands.":[38],"First,":[39],"generalized":[41],"was":[44,92,127],"formulated,":[45],"takes":[47],"into":[48],"account":[49],"inherent":[51],"such":[54],"mechanical":[56],"system.":[57],"includes":[59],"rigid-body":[60],"dynamics,":[61],"coupling":[62],"matrix,":[63],"joint":[64],"viscoelasticity,":[65],"tendon":[67],"friction.":[68],"Then,":[69],"we":[70],"propose":[71],"methodology":[73],"comprising":[74],"series":[76],"experiments,":[78],"for":[79,155],"step-wise":[80],"validation":[83],"this":[85],"model.":[87,141],"Moreover,":[88],"experimental":[90],"setup":[91],"designed":[93],"constructed":[95],"that":[96],"features":[97],"actuation":[98],"modules":[99],"peripheral":[101],"sensors":[102],"facilitate":[104],"process.":[107],"To":[108],"verify":[109],"proposed":[111,131],"methodology,":[112],"3D-printed":[114],"finger":[116,121],"based":[117],"on":[118],"index":[120],"design":[122],"Dexmart":[125],"hand":[126,170],"developed,":[128],"experiments":[132],"were":[133],"executed":[134],"identify":[136],"validate":[138],"its":[139],"could":[144],"be":[145],"extended":[146],"explore":[148],"cadaver":[152,162],"hands,":[153],"aiming":[154],"consistent":[157],"dataset":[158],"from":[159],"single":[161],"specimen":[163],"development":[167],"musculoskeletal":[169],"models.":[171]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}