{"id":"https://openalex.org/W4405787038","doi":"https://doi.org/10.1109/iros58592.2024.10802355","title":"Modeling of Hydraulic Soft Hand with Rubber Sheet Reservoir and Evaluation of its Grasping Flexibility and Control","display_name":"Modeling of Hydraulic Soft Hand with Rubber Sheet Reservoir and Evaluation of its Grasping Flexibility and Control","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787038","doi":"https://doi.org/10.1109/iros58592.2024.10802355"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802355","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/A5034469418","display_name":"Kyosuke Ishibashi","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":"Kyosuke Ishibashi","raw_affiliation_strings":["The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056305013","display_name":"Hiroki Ishikawa","orcid":"https://orcid.org/0000-0001-9330-4561"},"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":"Hiroki Ishikawa","raw_affiliation_strings":["The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083758126","display_name":"Osamu Azami","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":"Osamu Azami","raw_affiliation_strings":["The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"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":"Ko Yamamoto","raw_affiliation_strings":["The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034469418"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.3911,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59763891,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"229","last_page":"234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9176999926567078,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9176999926567078,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9057999849319458,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9014999866485596,"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/flexibility","display_name":"Flexibility (engineering)","score":0.7681077718734741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5339492559432983},{"id":"https://openalex.org/keywords/natural-rubber","display_name":"Natural rubber","score":0.41820722818374634},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.341509610414505},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.13006499409675598},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06809994578361511}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7681077718734741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5339492559432983},{"id":"https://openalex.org/C176933379","wikidata":"https://www.wikidata.org/wiki/Q131877","display_name":"Natural rubber","level":2,"score":0.41820722818374634},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.341509610414505},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.13006499409675598},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06809994578361511},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802355","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/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1888892744","https://openalex.org/W1902605501","https://openalex.org/W2079658079","https://openalex.org/W2519437300","https://openalex.org/W2534663435","https://openalex.org/W2566467848","https://openalex.org/W2567552155","https://openalex.org/W2784595654","https://openalex.org/W2784648116","https://openalex.org/W2897782084","https://openalex.org/W2911001812","https://openalex.org/W2950195592","https://openalex.org/W3010997645","https://openalex.org/W3097531163","https://openalex.org/W4200062153","https://openalex.org/W4295102049","https://openalex.org/W4383097501","https://openalex.org/W4385289381"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2109252598","https://openalex.org/W886882817","https://openalex.org/W1512878983","https://openalex.org/W2326594127","https://openalex.org/W4290989699","https://openalex.org/W4255766185","https://openalex.org/W1520120059"],"abstract_inverted_index":{"In":[0,74],"situations":[1],"where":[2],"robots":[3],"work":[4],"alongside":[5],"humans,":[6],"they":[7],"must":[8],"be":[9],"capable":[10],"of":[11,32,89,100],"responding":[12],"flexibly":[13],"to":[14,50,96],"unexpected":[15],"external":[16],"forces.":[17],"To":[18,59],"address":[19],"this":[20,61,75,126],"challenge,":[21],"researchers":[22],"have":[23,64],"conducted":[24],"numerous":[25],"studies":[26],"on":[27],"soft":[28,34,68,91,111],"robotics.":[29],"However,":[30],"most":[31],"the":[33,79,98,110,122],"hands":[35],"studied":[36],"so":[37],"far":[38],"are":[39],"powered":[40],"by":[41],"pneumatic":[42],"pressure":[43,48],"and":[44,86],"can":[45],"only":[46],"exert":[47],"up":[49],"a":[51,66,90,94,101],"several":[52],"hundred":[53],"kPa,":[54],"resulting":[55],"in":[56,70,125],"low":[57],"output.":[58],"solve":[60],"problem,":[62],"we":[63,77,106],"developed":[65],"hydraulic":[67],"hand":[69,92,112],"our":[71],"previous":[72],"research.":[73],"paper,":[76],"derive":[78],"relationship":[80],"between":[81],"driving":[82],"pressure,":[83],"bending":[84],"angle,":[85],"grasping":[87,114],"force":[88],"with":[93],"reservoir":[95],"evaluate":[97],"effect":[99],"rubber":[102],"sheet":[103],"reservoir.":[104],"Additionally,":[105],"experimentally":[107],"show":[108],"that":[109],"provides":[113],"flexibility":[115],"when":[116],"angle":[117],"control":[118],"is":[119],"applied":[120],"using":[121],"model":[123],"proposed":[124],"paper.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}