{"id":"https://openalex.org/W2585466334","doi":"https://doi.org/10.1109/lra.2017.2662086","title":"Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation","display_name":"Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation","publication_year":2017,"publication_date":"2017-01-31","ids":{"openalex":"https://openalex.org/W2585466334","doi":"https://doi.org/10.1109/lra.2017.2662086","mag":"2585466334"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2662086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2662086","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://kanazawa-u.repo.nii.ac.jp/records/9253","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007478938","display_name":"Toshihiro Nishimura","orcid":"https://orcid.org/0000-0003-2858-6368"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Toshihiro Nishimura","raw_affiliation_strings":["Graduated School of Natural, Science and Technology, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Graduated School of Natural, Science and Technology, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023142212","display_name":"Kaori Mizushima","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaori Mizushima","raw_affiliation_strings":["Graduated School of Natural, Science and Technology, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Graduated School of Natural, Science and Technology, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuji","raw_affiliation_strings":["Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061532363","display_name":"Tetsuyou Watanabe","orcid":"https://orcid.org/0000-0003-2549-1435"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuyou Watanabe","raw_affiliation_strings":["Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5007478938"],"corresponding_institution_ids":["https://openalex.org/I10091056"],"apc_list":null,"apc_paid":null,"fwci":3.6733,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.93261205,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"2","issue":"2","first_page":"1164","last_page":"1171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/underactuation","display_name":"Underactuation","score":0.8051859140396118},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5996564030647278},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5298628211021423},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4455714821815491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4451172947883606},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.413421630859375},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3793238401412964},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3586958944797516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29216477274894714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2723681926727295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2340797483921051},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14078772068023682},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12692618370056152},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06512689590454102}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8051859140396118},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5996564030647278},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5298628211021423},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4455714821815491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4451172947883606},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.413421630859375},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3793238401412964},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3586958944797516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29216477274894714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2723681926727295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2340797483921051},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14078772068023682},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12692618370056152},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06512689590454102}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2017.2662086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2662086","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01288:0000253610","is_oa":true,"landing_page_url":"https://kanazawa-u.repo.nii.ac.jp/records/9253","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal article"},{"id":"pmh:oai:kanazawa-u.repo.nii.ac.jp:00009253","is_oa":true,"landing_page_url":"http://hdl.handle.net/2297/46899","pdf_url":null,"source":{"id":"https://openalex.org/S4306400882","display_name":"Kanazawa University Repository for Academic Resources (DSpace) (Kanazawa University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I10091056","host_organization_name":"Kanazawa University","host_organization_lineage":["https://openalex.org/I10091056"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01288:0000253610","is_oa":true,"landing_page_url":"https://kanazawa-u.repo.nii.ac.jp/records/9253","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal article"},"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G4465794671","display_name":null,"funder_award_id":"16H04298","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"},{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W177112140","https://openalex.org/W1542761027","https://openalex.org/W1606689539","https://openalex.org/W1888892744","https://openalex.org/W1928297553","https://openalex.org/W1978424264","https://openalex.org/W2007924815","https://openalex.org/W2008731016","https://openalex.org/W2013467411","https://openalex.org/W2022024011","https://openalex.org/W2029744358","https://openalex.org/W2032745455","https://openalex.org/W2033246370","https://openalex.org/W2034912460","https://openalex.org/W2048058874","https://openalex.org/W2055255591","https://openalex.org/W2063987138","https://openalex.org/W2080551943","https://openalex.org/W2082197056","https://openalex.org/W2126341038","https://openalex.org/W2143909231","https://openalex.org/W2149010019","https://openalex.org/W2155337985","https://openalex.org/W2162556257","https://openalex.org/W2164575107","https://openalex.org/W2166585449","https://openalex.org/W2197302844","https://openalex.org/W2202982444","https://openalex.org/W2205969003","https://openalex.org/W2214105563","https://openalex.org/W2296682917","https://openalex.org/W2296718990","https://openalex.org/W2409326208","https://openalex.org/W2414597567","https://openalex.org/W2548787327","https://openalex.org/W6640282995","https://openalex.org/W6729423534"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3035867307","https://openalex.org/W143055317","https://openalex.org/W2998071126","https://openalex.org/W1989428111","https://openalex.org/W2907262613","https://openalex.org/W4289868286","https://openalex.org/W2356444765"],"abstract_inverted_index":{"A":[0,32],"novel":[1],"robotic":[2],"gripper":[3,74],"with":[4,23,48],"soft":[5,13],"surfaces":[6],"and":[7,26,59,64,82,91,115],"underactuated":[8,38],"joints":[9],"was":[10,15,34,89],"proposed.":[11],"The":[12,84],"surface":[14],"fabricated":[16],"from":[17],"a":[18,27,53],"deformable":[19],"rubber":[20],"bag":[21],"filled":[22],"incompressible":[24],"fluid":[25],"microgripper":[28],"inside":[29],"the":[30,37,42,60,73],"fluid.":[31],"ratchet":[33],"installed":[35],"at":[36],"joint":[39],"so":[40],"that":[41],"joint's":[43],"rotation":[44],"caused":[45],"by":[46],"contact":[47],"an":[49,66],"environment,":[50],"such":[51],"as":[52],"supporting":[54],"surface,":[55],"can":[56],"be":[57],"preserved,":[58],"actions":[61],"of":[62,86],"scooping":[63],"enveloping":[65],"object":[67],"are":[68],"realized.":[69],"With":[70],"one":[71],"actuator,":[72],"realized":[75],"three":[76],"modes,":[77],"i.e.,":[78],"parallel":[79],"gripper,":[80],"pinching,":[81],"enveloping.":[83],"range":[85],"graspable":[87],"objects":[88],"wide":[90],"included":[92],"soft,":[93],"rigid,":[94],"deformable,":[95],"fragile,":[96],"small":[97],"(boundary":[98],"length":[99],"less":[100],"than":[101,106,112,118],"30":[102],"mm),":[103,114],"large":[104],"(more":[105,117],"80":[107],"mm":[108],"long),":[109],"thin":[110],"(less":[111],"0.5":[113],"heavy":[116],"3":[119],"kg)":[120],"objects.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}