{"id":"https://openalex.org/W4416750199","doi":"https://doi.org/10.1109/iros60139.2025.11246988","title":"High DOF Tendon-Driven Soft Hand: A Modular System for Versatile and Dexterous Manipulation","display_name":"High DOF Tendon-Driven Soft Hand: A Modular System for Versatile and Dexterous Manipulation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750199","doi":"https://doi.org/10.1109/iros60139.2025.11246988"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246988","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/A5085765066","display_name":"Yeonwoo Jang","orcid":"https://orcid.org/0000-0002-8636-4432"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yeonwoo Jang","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea"],"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083551971","display_name":"Hajun Lee","orcid":"https://orcid.org/0000-0002-9964-787X"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hajun Lee","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea"],"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102764630","display_name":"Jung-Hyo Kim","orcid":"https://orcid.org/0009-0001-2034-0753"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junghyo Kim","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea"],"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102787783","display_name":"Taerim Yoon","orcid":"https://orcid.org/0000-0001-6686-5670"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taerim Yoon","raw_affiliation_strings":["Korea University,Department of Artificial Intelligence,Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,Department of Artificial Intelligence,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034788578","display_name":"Yoonbyung Chai","orcid":"https://orcid.org/0009-0006-2716-5325"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yoonbyung Chai","raw_affiliation_strings":["Korea University,Department of Artificial Intelligence,Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,Department of Artificial Intelligence,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104234425","display_name":"Heejae Won","orcid":null},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heejae Won","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea"],"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047885515","display_name":"Sungjoon Choi","orcid":"https://orcid.org/0000-0002-3049-8212"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungjoon Choi","raw_affiliation_strings":["Korea University,Department of Artificial Intelligence,Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,Department of Artificial Intelligence,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101661304","display_name":"Jiyun Kim","orcid":"https://orcid.org/0000-0001-9756-7254"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jiyun Kim","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea"],"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Materials Science and Engineering,Ulsan,Korea","institution_ids":["https://openalex.org/I48566637"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5085765066"],"corresponding_institution_ids":["https://openalex.org/I48566637"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1403","last_page":"1409"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9656999707221985,"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":0.9656999707221985,"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":0.025599999353289604,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.001500000013038516,"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/modular-design","display_name":"Modular design","score":0.7052000164985657},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6560999751091003},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.6036999821662903},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4268999993801117},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.420199990272522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41659998893737793},{"id":"https://openalex.org/keywords/personalization","display_name":"Personalization","score":0.3968000113964081},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3684000074863434},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.36559998989105225}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7052000164985657},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6560999751091003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.614799976348877},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.6036999821662903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46709999442100525},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4268999993801117},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.420199990272522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41929998993873596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41659998893737793},{"id":"https://openalex.org/C183003079","wikidata":"https://www.wikidata.org/wiki/Q1000371","display_name":"Personalization","level":2,"score":0.3968000113964081},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3684000074863434},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36559998989105225},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33550000190734863},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.325300008058548},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30219998955726624},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29260000586509705},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.2547999918460846}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246988","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/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320334885","display_name":"Korea Institute of Materials Science","ror":"https://ror.org/01rwkhb30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1812391728","https://openalex.org/W1964878519","https://openalex.org/W2042163945","https://openalex.org/W2051434435","https://openalex.org/W2127966735","https://openalex.org/W2290138548","https://openalex.org/W2296718990","https://openalex.org/W2534663435","https://openalex.org/W2560730116","https://openalex.org/W2588052119","https://openalex.org/W2608405054","https://openalex.org/W2806855621","https://openalex.org/W2883279767","https://openalex.org/W2889529934","https://openalex.org/W2910831843","https://openalex.org/W2964529391","https://openalex.org/W3008620731","https://openalex.org/W3014315853","https://openalex.org/W3036541334","https://openalex.org/W3040887933","https://openalex.org/W3081214735","https://openalex.org/W3095351385","https://openalex.org/W3207431095","https://openalex.org/W4200213509","https://openalex.org/W4200556188","https://openalex.org/W4205367930","https://openalex.org/W4210590759","https://openalex.org/W4226301680","https://openalex.org/W4285102520","https://openalex.org/W4285301347","https://openalex.org/W4315619123","https://openalex.org/W4360994086"],"related_works":[],"abstract_inverted_index":{"The":[0,117,164],"soft":[1,19,29,67,75,95,194,227],"robotic":[2,76,135,228],"hand":[3,30,77],"exhibits":[4],"a":[5,27,62,70,74,108,167],"wide":[6,109],"range":[7],"of":[8,17,34,38,45,73,119,134,141,148,161,166,192,221,226],"manipulation":[9,81,115,179],"capabilities,":[10],"which":[11,129],"are":[12,181],"attributed":[13],"to":[14,52,218],"the":[15,36,39,92,120,123,131,139,158,203,219,224],"dexterity":[16,173],"its":[18],"fingers":[20],"and":[21,48,69,98,137,174,176,187,206],"their":[22,49],"coordinated":[23],"movements.":[24],"Therefore,":[25],"designing":[26],"versatile":[28],"requires":[31],"careful":[32],"consideration":[33],"both":[35,91],"characteristics":[37],"individual":[40],"fingers,":[41],"such":[42],"as":[43],"degree":[44],"freedom":[46],"(DOF),":[47],"strategic":[50],"arrangements":[51],"improve":[53],"performance":[54,165],"for":[55,78,126],"specific":[56],"target":[57],"tasks.":[58,82,163,210],"This":[59],"work":[60],"presents":[61],"modularized":[63],"high":[64,102],"DOF":[65,103],"tendon-driven":[66,94],"finger":[68,96,127,169,198],"customized":[71],"design":[72,124],"diverse":[79,132,193],"dexterous":[80],"Furthermore,":[83],"an":[84],"all-in-one":[85],"module":[86],"is":[87,170],"developed":[88],"that":[89,213],"integrates":[90],"4-way":[93],"body":[97],"drive":[99],"parts.":[100],"Its":[101],"enables":[104,130],"multidirectional":[105],"actuations":[106],"with":[107,196],"actuation":[110],"range,":[111],"thereby":[112],"expanding":[113],"possible":[114],"modes.":[116],"modularity":[118],"system":[121,215],"expands":[122],"space":[125],"arrangements,":[128],"configuration":[133],"hands":[136,195],"facilitates":[138],"customization":[140],"task-oriented":[142],"platforms.":[143],"To":[144],"achieve":[145],"sophisticated":[146],"control":[147],"these":[149],"complex":[150],"configurations,":[151],"we":[152],"employ":[153],"neural":[154],"network-planned":[155],"trajectories,":[156],"enabling":[157],"precise":[159],"execution":[160],"complicated":[162],"single":[168],"validated,":[171],"including":[172,183],"payload,":[175],"several":[177],"real-world":[178],"tasks":[180],"demonstrated,":[182],"writing,":[184],"grasping,":[185],"rotating,":[186],"spreading,":[188],"using":[189],"motion":[190],"primitives":[191],"distinctive":[197],"arrangements.":[199],"These":[200],"demonstrations":[201],"showcase":[202],"system\u2019s":[204],"versatility":[205],"precision":[207],"in":[208,223],"various":[209],"We":[211],"expect":[212],"our":[214],"will":[216],"contribute":[217],"expansion":[220],"possibilities":[222],"field":[225],"manipulation.":[229]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
