{"id":"https://openalex.org/W3014188318","doi":"https://doi.org/10.1109/lra.2020.2983668","title":"New Soft Robot Hand Configuration With Combined Biotensegrity and Thin Artificial Muscle","display_name":"New Soft Robot Hand Configuration With Combined Biotensegrity and Thin Artificial Muscle","publication_year":2020,"publication_date":"2020-03-30","ids":{"openalex":"https://openalex.org/W3014188318","doi":"https://doi.org/10.1109/lra.2020.2983668","mag":"3014188318"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2983668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983668","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038593157","display_name":"Wen-Yung Li","orcid":"https://orcid.org/0000-0002-5144-4192"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wen-Yung Li","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5144-4192","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Nabae","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3036-6447","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7958-5395","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Suzumori","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5735-4956","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":4.1436,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.9434889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"5","issue":"3","first_page":"4345","last_page":"4351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11737","display_name":"Advanced Materials and Mechanics","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976000189781189,"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/tensegrity","display_name":"Tensegrity","score":0.997982919216156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.570199728012085},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5342252850532532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5248996019363403},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.5140784978866577},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.5100065469741821},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.4224439263343811},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.416761189699173},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3962360918521881},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.362640917301178},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3503115773200989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33494728803634644},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.14785292744636536},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06339994072914124}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.997982919216156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.570199728012085},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5342252850532532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5248996019363403},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5140784978866577},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.5100065469741821},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.4224439263343811},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.416761189699173},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3962360918521881},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.362640917301178},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3503115773200989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33494728803634644},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.14785292744636536},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06339994072914124},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2983668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983668","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.800000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W182745913","https://openalex.org/W2001124350","https://openalex.org/W2005806111","https://openalex.org/W2017506947","https://openalex.org/W2081570540","https://openalex.org/W2139618112","https://openalex.org/W2149475811","https://openalex.org/W2165530525","https://openalex.org/W2268948894","https://openalex.org/W2331391623","https://openalex.org/W2332924185","https://openalex.org/W2370378640","https://openalex.org/W2519125098","https://openalex.org/W2739593313","https://openalex.org/W2750763155","https://openalex.org/W2878430784","https://openalex.org/W2892120334","https://openalex.org/W2898037018","https://openalex.org/W2909067076","https://openalex.org/W2932167159","https://openalex.org/W2935599202","https://openalex.org/W2936498777","https://openalex.org/W2963491608","https://openalex.org/W2966902434","https://openalex.org/W6607553246"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W2322932004","https://openalex.org/W1534202391","https://openalex.org/W2315940723"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,8],"particular":[4],"tensegrity":[5,31,59,71,84,119,147],"topology":[6,153],"for":[7,29],"humanoid":[9,70],"hand":[10,17,32,72,85,120,148],"in":[11,95],"which":[12,38],"the":[13,16,40,43,52,64,83,96,118,137,146],"motion":[14,139],"of":[15,36,42,51,88,92,104,145],"is":[18,46,61,67,73,86],"actuated":[19],"using":[20],"thin":[21],"McKibben":[22],"artificial":[23,44],"muscles.":[24],"The":[25,69,143],"specific":[26,152],"actuation":[27,65],"pattern":[28],"this":[30,151],"with":[33],"multiple":[34],"degrees":[35],"freedom,":[37],"includes":[39],"location":[41],"muscles,":[45],"presented.":[47],"A":[48],"novel":[49],"design":[50,154],"joints":[53],"that":[54,150],"are":[55],"used":[56],"to":[57,75,90,122,135,158],"connect":[58],"prisms":[60],"proposed":[62],"and":[63,101,115,126,130,140],"method":[66],"demonstrated.":[68],"able":[74],"absorb":[76],"impact":[77],"from":[78],"different":[79],"directions.":[80],"Under":[81],"stress,":[82],"capable":[87],"compressing":[89],"26%":[91],"its":[93,105,110,123],"size":[94],"horizontal":[97],"direction":[98],"before":[99],"failure":[100],"about":[102],"30%":[103],"finger":[106],"thickness":[107],"without":[108],"destroying":[109],"structure.":[111],"After":[112],"resisting":[113],"compression":[114],"tension":[116],"force,":[117],"returns":[121],"original":[124],"shape":[125],"works":[127],"normally.":[128],"Static":[129],"dynamic":[131],"experiments":[132],"were":[133],"conducted":[134],"validate":[136],"gripping":[138],"holding":[141],"performance.":[142],"implementation":[144],"shows":[149],"can":[155],"be":[156],"utilized":[157],"develop":[159],"soft":[160],"robotic":[161],"hands.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
