{"id":"https://openalex.org/W4416748361","doi":"https://doi.org/10.1109/iros60139.2025.11246074","title":"A Novel Robot Hand with Hoeckens Linkages and Soft Phalanges for Scooping and Self-Adaptive Grasping in Environmental Constraints","display_name":"A Novel Robot Hand with Hoeckens Linkages and Soft Phalanges for Scooping and Self-Adaptive Grasping in Environmental Constraints","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748361","doi":"https://doi.org/10.1109/iros60139.2025.11246074"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246074","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":"conference-paper","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/A5102953820","display_name":"Wentao Guo","orcid":"https://orcid.org/0000-0001-8167-4450"},"institutions":[{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Guo","raw_affiliation_strings":["Beijing Institute of Technology,Computer Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,Computer Science and Technology,China","institution_ids":["https://openalex.org/I202334528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100602395","display_name":"Yizhou Wang","orcid":"https://orcid.org/0000-0001-9888-6409"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhou Wang","raw_affiliation_strings":["X-Institute,Laboratory of Robotics,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"X-Institute,Laboratory of Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037374178","display_name":"Wenzeng Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["X-Institute,Laboratory of Robotics,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"X-Institute,Laboratory of Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6509","last_page":"6514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7114999890327454,"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":0.7114999890327454,"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":0.19329999387264252,"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/T10982","display_name":"Motor Control and Adaptation","score":0.027499999850988388,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7175999879837036},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6273000240325928},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.6150000095367432},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5791000127792358},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5633999705314636},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5527999997138977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47850000858306885},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45750001072883606}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7175999879837036},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6273000240325928},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.6150000095367432},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5791000127792358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5637999773025513},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5633999705314636},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5527999997138977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47850000858306885},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45750001072883606},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4343000054359436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4325000047683716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4219000041484833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4117000102996826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4000999927520752},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3781999945640564},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3686000108718872},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3287999927997589},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.323199987411499},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.32109999656677246},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2969000041484833},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.26429998874664307}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246074","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W1984237968","https://openalex.org/W1999375810","https://openalex.org/W2096231443","https://openalex.org/W2098335677","https://openalex.org/W2159717066","https://openalex.org/W2487619003","https://openalex.org/W2785513282","https://openalex.org/W3013862267","https://openalex.org/W3041466979","https://openalex.org/W4212811347","https://openalex.org/W4402716044"],"related_works":[],"abstract_inverted_index":{"This":[0,108],"paper":[1],"presents":[2],"a":[3,16,20,41,92,163],"novel":[4],"underactuated":[5],"adaptive":[6,27],"robotic":[7],"hand,":[8],"Hockens-A":[9,37],"Hand,":[10],"which":[11],"integrates":[12],"the":[13,58,62,67,74,77,89,98,116,121,129,133,144,154,157,167,172],"Hoeckens":[14,63],"mechanism,":[15],"double-parallelogram":[17,68],"linkage,":[18],"and":[19,34,52,76,106,119,136,184],"specialized":[21],"four-bar":[22,78],"linkage":[23,69,122],"to":[24,49,100,114,152],"achieve":[25],"three":[26,168],"grasping":[28,86,141,145,169,182],"modes:":[29],"parallel":[30],"pinching,":[31],"asymmetric":[32],"scooping,":[33],"enveloping":[35],"grasping.":[36],"Hand":[38],"requires":[39],"only":[40],"single":[42],"linear":[43],"actuator,":[44],"leveraging":[45],"passive":[46],"mechanical":[47],"intelligence":[48],"ensure":[50],"adaptability":[51],"compliance":[53],"in":[54,174],"unstructured":[55],"environments.":[56],"Specifically,":[57],"vertical":[59],"motion":[60,135],"of":[61,91,103,156,171],"mechanism":[64],"introduces":[65],"compliance,":[66],"ensures":[70],"line":[71],"contact":[72],"at":[73],"fingertip,":[75],"amplification":[79],"system":[80],"enables":[81],"natural":[82],"transitions":[83,139],"between":[84,140],"different":[85],"modes.":[87,142],"Additionally,":[88],"inclusion":[90],"mesh-textured":[93],"silicone":[94],"phalanx":[95],"further":[96],"enhances":[97],"ability":[99],"envelop":[101],"objects":[102],"various":[104,175],"shapes":[105],"sizes.":[107],"study":[109],"employs":[110],"detailed":[111],"kinematic":[112],"analysis":[113],"optimize":[115],"push":[117],"angle":[118],"design":[120,130],"lengths":[123],"for":[124],"optimal":[125],"performance.":[126,159],"Simulations":[127],"validated":[128],"by":[131],"analyzing":[132],"fingertip":[134],"ensuring":[137],"smooth":[138],"Furthermore,":[143],"force":[146],"was":[147],"analyzed":[148],"using":[149,162],"power":[150],"equations":[151],"enhance":[153],"understanding":[155],"system\u2019s":[158],"Experimental":[160],"validation":[161],"3D-printed":[164],"prototype":[165],"demonstrates":[166],"modes":[170],"hand":[173],"scenarios":[176],"under":[177],"environmental":[178],"constraints,":[179],"verifying":[180],"its":[181],"stability":[183],"broad":[185],"applicability.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}