{"id":"https://openalex.org/W4416748740","doi":"https://doi.org/10.1109/iros60139.2025.11246837","title":"Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO <sup>\u00ae</sup> MINDSTORMS <sup>\u00ae</sup>","display_name":"Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO <sup>\u00ae</sup> MINDSTORMS <sup>\u00ae</sup>","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748740","doi":"https://doi.org/10.1109/iros60139.2025.11246837"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246837","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/A5120523027","display_name":"Jared K. Lepora","orcid":null},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jared K. Lepora","raw_affiliation_strings":["University Road,Bristol Grammar School,Bristol,U.K.,BS8 1SR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Road,Bristol Grammar School,Bristol,U.K.,BS8 1SR","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103096810","display_name":"Haoran Li","orcid":"https://orcid.org/0009-0008-9180-3955"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Haoran Li","raw_affiliation_strings":["University of Bristol,School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory,Bristol,U.K.,BS8 1UB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol,School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory,Bristol,U.K.,BS8 1UB","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013732957","display_name":"Efi Psomopoulou","orcid":"https://orcid.org/0000-0003-3883-4097"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Efi Psomopoulou","raw_affiliation_strings":["University of Bristol,School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory,Bristol,U.K.,BS8 1UB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol,School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory,Bristol,U.K.,BS8 1UB","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["University of Bristol,School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory,Bristol,U.K.,BS8 1UB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol,School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory,Bristol,U.K.,BS8 1UB","institution_ids":["https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4010703,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21481","last_page":"21486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5738000273704529,"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":0.5738000273704529,"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":0.05739999935030937,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.05009999871253967,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7505999803543091},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5428000092506409},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.45820000767707825},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.423799991607666},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4156999886035919},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.3968999981880188},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.3856000006198883},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.36550000309944153}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7505999803543091},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5990999937057495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5428000092506409},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.423799991607666},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42089998722076416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41620001196861267},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4156999886035919},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.3856000006198883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3831999897956848},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.36550000309944153},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3605000078678131},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3546999990940094},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3174999952316284},{"id":"https://openalex.org/C2993333825","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Hand held","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.27869999408721924},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.27160000801086426},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246837","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1568865333","https://openalex.org/W1754754639","https://openalex.org/W2079830066","https://openalex.org/W2100444733","https://openalex.org/W2119600726","https://openalex.org/W2130007788","https://openalex.org/W2147172449","https://openalex.org/W2158145254","https://openalex.org/W2164575107","https://openalex.org/W2588211988","https://openalex.org/W2589847876","https://openalex.org/W2803694791","https://openalex.org/W2943200793","https://openalex.org/W4200182562","https://openalex.org/W4206693075","https://openalex.org/W4283693873","https://openalex.org/W4414957220"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,32,59,98],"anthropomorphic":[4,99],"robot":[5,18],"hand":[6,19,54,100,119],"built":[7],"entirely":[8],"using":[9,47,90,110],"LEGO":[10,43,124],"MINDSTORMS:":[11],"the":[12,22,35,118,136,146],"Educational":[13],"SoftHand-A,":[14],"a":[15,87,105,111],"tendon-driven,":[16],"highly-underactuated":[17],"based":[20],"on":[21,65],"Pisa/IIT":[23],"SoftHand":[24],"and":[25,114,126,140],"related":[26],"hands.":[27],"To":[28],"be":[29,121],"suitable":[30],"for":[31,131],"educational":[33],"context,":[34],"design":[36,95,129],"is":[37],"constrained":[38],"to":[39,71,138,143],"use":[40],"only":[41],"standard":[42],"pieces":[44,125],"with":[45,86],"tests":[46],"common":[48],"equipment":[49],"available":[50],"at":[51],"home.":[52],"The":[53,77],"features":[55],"dual":[56],"motors":[57],"driving":[58],"agonist/antagonist":[60],"opposing":[61],"pair":[62],"of":[63,108,148],"tendons":[64],"each":[66],"finger,":[67],"which":[68],"are":[69,80],"shown":[70],"result":[72],"in":[73,97],"reactive":[74],"fine":[75],"control.":[76],"finger":[78],"motions":[79],"synchonized":[81],"through":[82],"soft":[83],"synergies,":[84],"implemented":[85],"differential":[88],"mechanism":[89],"clutch":[91],"gears.":[92],"Altogether,":[93],"this":[94],"results":[96],"that":[101],"can":[102,120],"adaptively":[103],"grasp":[104],"broad":[106],"range":[107],"objects":[109],"simple":[112],"actuation":[113],"control":[115],"mechanism.":[116],"Since":[117],"constructed":[122],"from":[123],"uses":[127],"state-of-the-art":[128],"concepts":[130],"robotic":[132],"hands,":[133],"it":[134],"has":[135],"potential":[137],"educate":[139],"inspire":[141],"children":[142],"learn":[144],"about":[145],"frontiers":[147],"modern":[149],"robotics.":[150]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}