{"id":"https://openalex.org/W4416747930","doi":"https://doi.org/10.1109/iros60139.2025.11246361","title":"MuxHand: A Cost-Effective and Compact Dexterous Robotic Hand Using Time-Division Multiplexing Mechanism","display_name":"MuxHand: A Cost-Effective and Compact Dexterous Robotic Hand Using Time-Division Multiplexing Mechanism","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747930","doi":"https://doi.org/10.1109/iros60139.2025.11246361"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246361","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/A5024435653","display_name":"Jing Xu","orcid":"https://orcid.org/0000-0001-9886-5827"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianle Xu","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068046002","display_name":"S.-Q. Li","orcid":"https://orcid.org/0009-0004-5350-7283"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shoujie Li","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113911808","display_name":"Hong Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Luo","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737124","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-0013-3930"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012419026","display_name":"Wenbo Ding","orcid":"https://orcid.org/0000-0003-3820-8926"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbo Ding","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chongkun Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongkun Xia","raw_affiliation_strings":["Sun Yat-sen University,School of Advanced Manufacturing,Shenzhen,China,518107"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Advanced Manufacturing,Shenzhen,China,518107","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5024435653"],"corresponding_institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34074582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12333","last_page":"12340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.659600019454956,"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":0.659600019454956,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.22130000591278076,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.03139999881386757,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5856999754905701},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5705999732017517},{"id":"https://openalex.org/keywords/finger-joint","display_name":"Finger joint","score":0.5698000192642212},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5698000192642212},{"id":"https://openalex.org/keywords/multiplexing","display_name":"Multiplexing","score":0.5414000153541565},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5292999744415283},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.5116999745368958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4474000036716461},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4458000063896179},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4235000014305115}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5856999754905701},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5705999732017517},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5698000192642212},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.5698000192642212},{"id":"https://openalex.org/C19275194","wikidata":"https://www.wikidata.org/wiki/Q222903","display_name":"Multiplexing","level":2,"score":0.5414000153541565},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5292999744415283},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.5116999745368958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4844000041484833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4474000036716461},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4235000014305115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4212000072002411},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41940000653266907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41530001163482666},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.40049999952316284},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.358599990606308},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3481999933719635},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33730000257492065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33070001006126404},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3124000132083893},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.30979999899864197},{"id":"https://openalex.org/C171078966","wikidata":"https://www.wikidata.org/wiki/Q111029","display_name":"Root (linguistics)","level":2,"score":0.3050000071525574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30149999260902405},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2994000017642975},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2793999910354614},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246361","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1469162419","https://openalex.org/W1520726269","https://openalex.org/W1959345191","https://openalex.org/W1966869906","https://openalex.org/W1971688004","https://openalex.org/W1978360037","https://openalex.org/W1984237968","https://openalex.org/W2063822181","https://openalex.org/W2112777749","https://openalex.org/W2218684819","https://openalex.org/W2490602117","https://openalex.org/W2807254784","https://openalex.org/W2909761319","https://openalex.org/W2947323496","https://openalex.org/W2963285996","https://openalex.org/W2980386651","https://openalex.org/W3008760761","https://openalex.org/W3038216440","https://openalex.org/W3099587965","https://openalex.org/W3185525136","https://openalex.org/W4200213509","https://openalex.org/W4205714909","https://openalex.org/W4206693075","https://openalex.org/W4238545949","https://openalex.org/W4285102159","https://openalex.org/W4285102553","https://openalex.org/W4285263347","https://openalex.org/W4295036137","https://openalex.org/W4312929748","https://openalex.org/W4376605759","https://openalex.org/W4383109235","https://openalex.org/W4401111487"],"related_works":[],"abstract_inverted_index":{"The":[0,80,132,174],"number":[1],"of":[2,11,37,87,90,94,108,117,124,160,177],"motors":[3],"directly":[4],"influences":[5],"the":[6,69,100,106,121,136,145,157,168,184,188,195,200,207],"dexterity,":[7],"size,":[8],"and":[9,48,57,61,129,151,206],"cost":[10,47,169],"a":[12,21,26,85,115,162,178],"robotic":[13,22],"hand.":[14],"In":[15],"this":[16],"paper,":[17],"we":[18,64],"present":[19],"MuxHand,":[20,125],"hand":[23,101],"that":[24,135],"utilizes":[25],"time-division":[27],"multiplexing":[28],"motor":[29,163],"(TDMM)":[30],"mechanism.":[31],"This":[32],"system":[33],"enables":[34],"independent":[35],"control":[36],"9":[38],"cables":[39],"with":[40],"just":[41],"4":[42],"motors,":[43],"significantly":[44],"reducing":[45],"both":[46],"size":[49],"while":[50],"maintaining":[51],"high":[52],"dexterity.":[53],"To":[54],"enhance":[55],"stability":[56],"smoothness":[58],"during":[59,111],"grasping":[60,128,150],"manipulation":[62,130],"tasks,":[63],"integrate":[65],"magnetic":[66],"joints":[67,74],"into":[68],"three":[70,81],"3D-printed":[71],"fingers.":[72],"These":[73],"provide":[75],"impact":[76],"resistance,":[77],"resetting":[78],"capabilities.":[79,131],"fingers":[82],"together":[83],"have":[84],"total":[86],"30":[88],"degrees":[89],"freedom":[91],"(DOF),":[92],"18":[93],"which":[95],"are":[96],"passive":[97],"DOF,":[98,167],"allowing":[99],"to":[102,105,119,144,156,164],"conform":[103],"closely":[104],"surface":[107],"an":[109],"object":[110],"grasping.":[112],"We":[113],"conduct":[114],"series":[116],"experiments":[118],"assess":[120],"performance":[122],"parameters":[123],"including":[126],"its":[127],"results":[133],"show":[134],"TDMM":[137],"mechanism":[138],"precisely":[139],"controls":[140],"each":[141,165],"cable":[142],"connected":[143],"finger":[146,180,189],"joints,":[147],"enabling":[148],"robust":[149],"dexterous":[152],"manipulation.":[153],"Furthermore,":[154],"compared":[155],"traditional":[158],"approach":[159],"assigning":[161],"active":[166],"is":[170,192,203,211],"reduced":[171],"by":[172],"42.06%.":[173],"maximum":[175,185,196,208],"load":[176,186],"single":[179],"reaches":[181],"7.0":[182],"kg,":[183,194,205],"at":[187,199],"joint":[190,201],"root":[191,202],"12.0":[193],"driving":[197],"force":[198,210],"5.0":[204],"fingertip":[209],"10.0":[212],"N.":[213]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}