{"id":"https://openalex.org/W4416749859","doi":"https://doi.org/10.1109/iros60139.2025.11245848","title":"The KIT Robotic Hands \u2013 A Scalable Humanoid Hand Platform With Multi-Modal Sensing and In-Hand Embedded Processing","display_name":"The KIT Robotic Hands \u2013 A Scalable Humanoid Hand Platform With Multi-Modal Sensing and In-Hand Embedded Processing","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749859","doi":"https://doi.org/10.1109/iros60139.2025.11245848"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5037077796","display_name":"Julia Starke","orcid":"https://orcid.org/0000-0002-0006-2370"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Julia Starke","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005440559","display_name":"Felix Hundhausen","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Hundhausen","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077558435","display_name":"Pascal Weiner","orcid":"https://orcid.org/0000-0002-2524-8454"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pascal Weiner","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004610673","display_name":"Samuel Rader","orcid":"https://orcid.org/0000-0002-0353-1451"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Samuel Rader","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120668503","display_name":"Engjell Hyseni","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Engjell Hyseni","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037077796"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44940539,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8479","last_page":"8486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8180000185966492,"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":0.8180000185966492,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.0414000004529953,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.03909999877214432,"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/grasp","display_name":"GRASP","score":0.8682000041007996},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6251999735832214},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6115000247955322},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.552299976348877},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5455999970436096},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4966999888420105},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.4433000087738037},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4043999910354614},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3962000012397766}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8682000041007996},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6251999735832214},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6115000247955322},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.559499979019165},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.552299976348877},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5455999970436096},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4966999888420105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45410001277923584},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.44620001316070557},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.4433000087738037},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4043999910354614},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40139999985694885},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.366100013256073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3474000096321106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33739998936653137},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.3357999920845032},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C48262172","wikidata":"https://www.wikidata.org/wiki/Q16908765","display_name":"Design process","level":3,"score":0.32339999079704285},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.3100000023841858},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29269999265670776},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.29249998927116394},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.275299996137619},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2669999897480011},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2572999894618988},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320317364","display_name":"BD","ror":"https://ror.org/048vrgr14"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1975033238","https://openalex.org/W2003330902","https://openalex.org/W2048058874","https://openalex.org/W2057299504","https://openalex.org/W2070787044","https://openalex.org/W2127836456","https://openalex.org/W2132790567","https://openalex.org/W2143909231","https://openalex.org/W2148127591","https://openalex.org/W2155113159","https://openalex.org/W2162556257","https://openalex.org/W2197459753","https://openalex.org/W2416254177","https://openalex.org/W2783627282","https://openalex.org/W2909980200","https://openalex.org/W2913835895","https://openalex.org/W2914475755","https://openalex.org/W2943200793","https://openalex.org/W2953669419","https://openalex.org/W2982369787","https://openalex.org/W3099587965","https://openalex.org/W3127172103","https://openalex.org/W3130962016","https://openalex.org/W3146546164","https://openalex.org/W3205057533","https://openalex.org/W3207781047","https://openalex.org/W4200077832","https://openalex.org/W4200213509","https://openalex.org/W4200406686","https://openalex.org/W4210913434","https://openalex.org/W4220908898","https://openalex.org/W4226301680","https://openalex.org/W4283693873","https://openalex.org/W4362496314","https://openalex.org/W4390480944","https://openalex.org/W4401116130","https://openalex.org/W4405785186"],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"robotic":[1],"hands":[2,58,135],"need":[3],"to":[4,15,42,78],"be":[5],"versatile":[6],"and":[7,54,72,131,145,154],"capable":[8],"of":[9,29,83,133,141,157],"providing":[10],"environmental":[11],"information":[12],"in":[13,50,107,124],"order":[14],"serve":[16],"as":[17,136,138],"a":[18,60,73,116],"platform":[19],"for":[20,103,120],"intelligent":[21],"grasp":[22,143],"control.":[23],"To":[24],"facilitate":[25],"the":[26,34,84,95,110,113,129,134,142],"design":[27,85,130],"process":[28],"such":[30],"hands,":[31],"we":[32],"present":[33],"KIT":[35],"Robotic":[36],"Hands.":[37],"They":[38],"have":[39],"been":[40],"designed":[41,119],"meet":[43],"diverse":[44],"application":[45],"requirements":[46],"through":[47,88],"their":[48],"scalability":[49],"size,":[51],"actuation,":[52],"sensorization":[53],"computing":[55],"resources.":[56],"The":[57,81],"integrate":[59],"multi-modal":[61],"sensor":[62],"system,":[63],"in-hand":[64,151],"embedded":[65],"processing":[66,156],"capabilities,":[67],"an":[68,139,150],"adaptive":[69],"underactuated":[70],"mechanism":[71],"continuously":[74],"controllable":[75],"thumb":[76],"rotation":[77],"enhance":[79],"dexterity.":[80],"flexibility":[82],"is":[86,94,112],"demonstrated":[87],"two":[89],"application-specific":[90],"hand":[91,101,118],"implementations:":[92],"one":[93],"ARMAR-7":[96],"hand,":[97,115],"which":[98],"has":[99],"human":[100],"dimensions":[102],"grasping":[104,121],"daily":[105],"objects":[106,123],"household":[108],"tasks,":[109],"other":[111],"ARMAR-DE":[114],"larger":[117],"bigger":[122],"decontamination":[125],"tasks.":[126],"We":[127],"describe":[128],"mechatronics":[132],"well":[137],"evaluation":[140],"success":[144],"image":[146],"segmentation":[147],"based":[148],"on":[149],"integrated":[152],"camera":[153],"onboard":[155],"visual":[158],"data.":[159]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}