{"id":"https://openalex.org/W4390044181","doi":"https://doi.org/10.1109/lra.2023.3345695","title":"Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis","display_name":"Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis","publication_year":2023,"publication_date":"2023-12-21","ids":{"openalex":"https://openalex.org/W4390044181","doi":"https://doi.org/10.1109/lra.2023.3345695"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3345695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3345695","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101556722","display_name":"Haowen Yao","orcid":"https://orcid.org/0009-0009-2357-3673"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Haowen Yao","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078684534","display_name":"Riddhiman Laha","orcid":"https://orcid.org/0000-0001-8527-0445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Riddhiman Laha","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040790541","display_name":"Luis Figueredo","orcid":"https://orcid.org/0000-0002-0759-3000"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luis F. C. Figueredo","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technische Universit&#x00E4;t M&#x00FC;nchen, M&#x00FC;nchen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101556722"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2374,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77823663,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1628","last_page":"1635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987000226974487,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987000226974487,"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":0.9975000023841858,"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":0.9929999709129333,"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/workspace","display_name":"Workspace","score":0.8744558095932007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6889979243278503},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5958958864212036},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5784730315208435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5496118068695068},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.542198657989502},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45952731370925903},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.4503161907196045},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3407844305038452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31262528896331787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1631888449192047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10563388466835022},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10560712218284607}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8744558095932007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6889979243278503},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5958958864212036},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5784730315208435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5496118068695068},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.542198657989502},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45952731370925903},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.4503161907196045},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3407844305038452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31262528896331787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1631888449192047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10563388466835022},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10560712218284607},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2023.3345695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3345695","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:mediatum.ub.tum.de:node/1737928","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1737928","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1737959","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1737959","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1576877922","https://openalex.org/W1602882713","https://openalex.org/W1983103208","https://openalex.org/W2012405876","https://openalex.org/W2028173473","https://openalex.org/W2030929340","https://openalex.org/W2049410986","https://openalex.org/W2056881950","https://openalex.org/W2070917084","https://openalex.org/W2076202257","https://openalex.org/W2084196626","https://openalex.org/W2085160639","https://openalex.org/W2099755684","https://openalex.org/W2110333200","https://openalex.org/W2121810265","https://openalex.org/W2139795879","https://openalex.org/W2141664020","https://openalex.org/W2165745738","https://openalex.org/W2176690447","https://openalex.org/W2200154514","https://openalex.org/W2294389641","https://openalex.org/W2502655619","https://openalex.org/W2783691665","https://openalex.org/W2964065782","https://openalex.org/W2996458220","https://openalex.org/W3003906237","https://openalex.org/W3112041916","https://openalex.org/W3183881215","https://openalex.org/W4200245063","https://openalex.org/W4205750219","https://openalex.org/W4221159915","https://openalex.org/W4285065231","https://openalex.org/W4285102379","https://openalex.org/W4293197752","https://openalex.org/W4293370930","https://openalex.org/W4313535470","https://openalex.org/W4313562936","https://openalex.org/W4380537418","https://openalex.org/W4383108539","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"The":[0,75],"ability":[1],"of":[2,50,96,107,115],"a":[3,7,24,51,93,123],"manipulator":[4],"to":[5,82],"compute":[6],"geometry-aware":[8],"quality":[9],"index":[10],"for":[11,64,122],"general":[12],"tasks":[13],"with":[14],"different":[15],"joint":[16],"configurations":[17],"is":[18,23],"essential.":[19],"Such":[20],"workspace":[21],"assessment":[22,49],"well-known":[25],"and":[26,59,72,100,118],"studied":[27],"field":[28],"in":[29],"existing":[30,43,116],"robotics":[31],"literature,":[32],"often":[33],"deployed":[34],"through":[35,109],"embodied":[36],"structures":[37],"such":[38],"as":[39],"voxelized":[40],"maps.":[41],"Notwithstanding,":[42],"literature":[44],"solely":[45],"focuses":[46],"on":[47],"the":[48,56,113,120],"single":[52],"pose":[53],"(end-effector),":[54],"neglecting":[55],"whole-body":[57,124],"structure":[58],"its":[60],"dexterity,":[61],"which":[62],"allows":[63],"secondary":[65],"task":[66],"optimization,":[67],"nullspace":[68],"motion,":[69],"body":[70],"placement,":[71],"improved":[73],"manipulability.":[74],"proposed":[76],"enhanced":[77],"dexterity":[78],"maps":[79],"(EDM)":[80],"aims":[81],"close":[83],"these":[84],"gaps":[85],"using":[86],"an":[87],"augmented":[88],"data":[89],"structure.":[90],"It":[91],"offers":[92],"systematic":[94],"analysis":[95,106],"disjoint":[97],"flip":[98],"solutions":[99],"accommodates":[101],"additional":[102],"performance":[103],"metrics.":[104],"Further":[105],"EDMs":[108],"case":[110],"studies":[111],"highlight":[112],"limitations":[114],"methods":[117],"supports":[119],"need":[121],"analysis.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
