{"id":"https://openalex.org/W3036545946","doi":"https://doi.org/10.1109/lra.2020.3003257","title":"Exploring the role of palm concavity and adaptability in soft synergistic robotic hands","display_name":"Exploring the role of palm concavity and adaptability in soft synergistic robotic hands","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3036545946","doi":"https://doi.org/10.1109/lra.2020.3003257","mag":"3036545946"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3003257","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3003257","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11568/1051304","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028069387","display_name":"Patricia Capsi\u2010Morales","orcid":"https://orcid.org/0000-0001-6498-9231"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Patricia Capsi Morales","raw_affiliation_strings":["Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077271684","display_name":"Cristina Piazza","orcid":"https://orcid.org/0000-0002-0358-8677"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristina Piazza","raw_affiliation_strings":["Centro di Ricerca \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy","Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE. Piaggio\u201d, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Centro di Ricerca \"E. Piaggio\", Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel Giuseppe Catalano","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0604,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.74738696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9973999857902527,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/palm","display_name":"Palm","score":0.7399449944496155},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7352234125137329},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.616349458694458},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5976142883300781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5516541600227356},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5373273491859436},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5324921011924744},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5255014896392822},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5144872665405273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45815765857696533},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.45776277780532837},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.4332340955734253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3986812233924866},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38861894607543945},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3708820343017578}],"concepts":[{"id":"https://openalex.org/C94598645","wikidata":"https://www.wikidata.org/wiki/Q2347874","display_name":"Palm","level":2,"score":0.7399449944496155},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7352234125137329},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.616349458694458},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5976142883300781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5516541600227356},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5373273491859436},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5324921011924744},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5255014896392822},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5144872665405273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45815765857696533},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.45776277780532837},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.4332340955734253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3986812233924866},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38861894607543945},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3708820343017578},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3003257","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3003257","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"},{"id":"pmh:oai:arpi.unipi.it:11568/1051304","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/1051304","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1051304","is_oa":true,"landing_page_url":"http://hdl.handle.net/11568/1051304","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W128884700","https://openalex.org/W1485809704","https://openalex.org/W1641736459","https://openalex.org/W1888892744","https://openalex.org/W1975435288","https://openalex.org/W1984237968","https://openalex.org/W1984786619","https://openalex.org/W2008660103","https://openalex.org/W2039750162","https://openalex.org/W2047864739","https://openalex.org/W2084977927","https://openalex.org/W2093789706","https://openalex.org/W2096799313","https://openalex.org/W2103173812","https://openalex.org/W2113265921","https://openalex.org/W2130830894","https://openalex.org/W2164575107","https://openalex.org/W2211217408","https://openalex.org/W2233341905","https://openalex.org/W2296718990","https://openalex.org/W2395290607","https://openalex.org/W2416254177","https://openalex.org/W2588120610","https://openalex.org/W2588211988","https://openalex.org/W2773191088"],"related_works":["https://openalex.org/W2296446406","https://openalex.org/W4200133235","https://openalex.org/W3027667018","https://openalex.org/W2018667201","https://openalex.org/W4205469505","https://openalex.org/W2665946888","https://openalex.org/W2729181762","https://openalex.org/W2570668074","https://openalex.org/W2625202073","https://openalex.org/W270427411"],"abstract_inverted_index":{"Robotic":[0],"hand":[1,34,103,149],"engineers":[2],"usually":[3],"focus":[4],"on":[5,72],"finger":[6,49],"capabilities,":[7],"often":[8],"disregarding":[9],"the":[10,20,29,42,73,86,100,105,117,123,128,146,151],"palm":[11,27,47,61,106],"contribution.":[12],"Inspired":[13],"by":[14,36,122],"human":[15,113,152],"anatomy,":[16],"this":[17,81],"paper":[18],"explores":[19],"advantages":[21],"of":[22,31,44,58,89,99,111,145,164],"including":[23],"a":[24,32,55,59,90,112,142,156,161],"flexible":[25],"concave":[26],"into":[28],"design":[30,57],"robotic":[33,91,102,148],"actuated":[35],"soft":[37],"synergies.":[38],"We":[39,53,93],"analyse":[40],"how":[41],"inclusion":[43],"an":[45],"articulated":[46],"improves":[48],"workspace":[50],"and":[51,108,160],"manipulability.":[52],"propose":[54],"mechanical":[56],"modular":[60],"with":[62,104],"two":[63],"elastic":[64],"rolling-contact":[65],"palmar":[66],"joints,":[67],"that":[68,98,110],"can":[69],"be":[70],"integrated":[71],"Pisa/IIT":[74],"SoftHand,":[75],"without":[76],"introducing":[77],"additional":[78],"motors.":[79],"With":[80],"prototype,":[82],"we":[83,126],"evaluate":[84],"experimentally":[85],"grasping":[87,136,139],"capabilities":[88],"palm.":[92],"compare":[94],"its":[95],"performance":[96],"to":[97,109,150],"same":[101],"fixed,":[107],"hand.":[114,153],"To":[115],"assess":[116],"effective":[118],"grasp":[119],"quality":[120],"achieved":[121],"three":[124],"systems,":[125],"measure":[127],"contact":[129],"area":[130],"using":[131],"paint-transfer":[132],"patterns":[133],"in":[134,167],"different":[135],"actions.":[137],"Preliminary":[138],"experiments":[140],"show":[141],"closer":[143],"resemblance":[144],"soft-palm":[147],"Results":[154],"evidence":[155],"higher":[157],"adaptive":[158],"capability":[159],"larger":[162],"involvement":[163],"all":[165],"fingers":[166],"grasping.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2020-06-25T00:00:00"}