{"id":"https://openalex.org/W4390905092","doi":"https://doi.org/10.1109/lra.2024.3354619","title":"Human Palm Performance Evaluation and the Palm Design of Humanoid Robotic Hands","display_name":"Human Palm Performance Evaluation and the Palm Design of Humanoid Robotic Hands","publication_year":2024,"publication_date":"2024-01-16","ids":{"openalex":"https://openalex.org/W4390905092","doi":"https://doi.org/10.1109/lra.2024.3354619"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3354619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3354619","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/A5089019544","display_name":"Dai Chu","orcid":"https://orcid.org/0000-0003-4653-8976"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dai Chu","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100770696","display_name":"Caihua Xiong","orcid":"https://orcid.org/0000-0003-2326-0289"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caihua Xiong","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102017290","display_name":"Zhiyi Huang","orcid":"https://orcid.org/0009-0008-3781-8232"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyi Huang","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078199848","display_name":"Jinhao Yang","orcid":"https://orcid.org/0000-0001-6680-371X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhao Yang","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083096008","display_name":"Jiaji Ma","orcid":"https://orcid.org/0000-0002-2043-4661"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaji Ma","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363742","display_name":"Jiarui Zhang","orcid":"https://orcid.org/0000-0003-4776-852X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiarui Zhang","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035418296","display_name":"Bai-Yang Sun","orcid":"https://orcid.org/0000-0001-5714-4812"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai-yang Sun","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101883649","display_name":"Junjie Cai","orcid":"https://orcid.org/0000-0002-3099-8700"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Cai","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5089019544"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":4.5642,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94932476,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"3","first_page":"2463","last_page":"2470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"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":0.9965999722480774,"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":0.9884999990463257,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/palm","display_name":"Palm","score":0.8948143720626831},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7573212385177612},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6572437286376953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5982060432434082},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.588874101638794},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5834794044494629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5736940503120422},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5586192607879639},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4737720787525177},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4452141225337982},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3746655583381653},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3644653558731079},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30294883251190186},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08548453450202942}],"concepts":[{"id":"https://openalex.org/C94598645","wikidata":"https://www.wikidata.org/wiki/Q2347874","display_name":"Palm","level":2,"score":0.8948143720626831},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7573212385177612},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6572437286376953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5982060432434082},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.588874101638794},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5834794044494629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5736940503120422},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5586192607879639},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4737720787525177},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4452141225337982},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3746655583381653},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3644653558731079},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30294883251190186},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08548453450202942},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3354619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3354619","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1432229094","display_name":null,"funder_award_id":"U1913601","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7067728106","display_name":null,"funder_award_id":"52027806","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W1736318301","https://openalex.org/W1968543621","https://openalex.org/W2001237545","https://openalex.org/W2010155751","https://openalex.org/W2026640515","https://openalex.org/W2034237327","https://openalex.org/W2039698636","https://openalex.org/W2047864739","https://openalex.org/W2053438251","https://openalex.org/W2062244559","https://openalex.org/W2078759560","https://openalex.org/W2093847731","https://openalex.org/W2108341823","https://openalex.org/W2133713370","https://openalex.org/W2164575107","https://openalex.org/W2282481780","https://openalex.org/W2415645592","https://openalex.org/W2559389166","https://openalex.org/W2773191088","https://openalex.org/W2950069298","https://openalex.org/W3010475510","https://openalex.org/W3028215264","https://openalex.org/W3036545946","https://openalex.org/W3042955527","https://openalex.org/W3087874248","https://openalex.org/W3102750916","https://openalex.org/W3163582502","https://openalex.org/W4200213509","https://openalex.org/W4206693075","https://openalex.org/W4210913434","https://openalex.org/W4318953217","https://openalex.org/W4376851155"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2369529107","https://openalex.org/W4200133235","https://openalex.org/W2296446406"],"abstract_inverted_index":{"Losing":[0],"the":[1,5,14,28,46,52,67,81,100,125,166],"ability":[2],"to":[3,26,73,104,150,165],"deform":[4],"palm":[6,47,53,79,89,148],"is":[7,16],"unthinkable":[8],"for":[9,18],"a":[10,19,35,41,63,77,87,114,134,139,146],"human":[11,31,68,140],"hand,":[12],"and":[13,33,98,123,138,154],"same":[15],"true":[17],"humanoid":[20,37,116,158],"robotic":[21,38,117,136,159,170],"hand.":[22,141],"Here,":[23],"we":[24,61,112],"aim":[25],"evaluate":[27],"performance":[29,127],"of":[30,66,102,128,133,168],"palms":[32],"develop":[34],"palm-movable":[36,115],"hand":[39,69,118,137],"with":[40,70,119,131],"few":[42],"actuators.":[43],"We":[44,84],"quantified":[45],"morphological":[48,54],"characteristics":[49,72],"by":[50],"analyzing":[51],"parameters":[55],"collected":[56],"from":[57],"42":[58],"subjects.":[59],"Subsequently,":[60],"constructed":[62],"kinematic":[64],"model":[65],"these":[71],"quantitatively":[74],"analyze":[75],"how":[76],"movable":[78,88,147],"influences":[80],"finger":[82],"workspace.":[83],"found":[85],"that":[86,132,145],"can":[90],"significantly":[91],"improve":[92],"fingertip-reachable":[93],"space":[94],"(at":[95,108],"least":[96,109],"50%)":[97],"increase":[99],"capability":[101],"fingers":[103],"oppose":[105],"each":[106],"other":[107],"14%).":[110],"Furthermore,":[111],"designed":[113],"only":[120],"four":[121],"actuators":[122],"compared":[124],"grasping":[126],"this":[129],"prototype":[130],"palm-fixed":[135],"The":[142],"results":[143],"suggest":[144],"contributes":[149],"enhancing":[151],"anthropomorphism,":[152],"adaptability,":[153],"grip":[155],"stability":[156],"in":[157],"hands.":[160,171],"Hence,":[161],"our":[162],"findings":[163],"contribute":[164],"development":[167],"dexterous":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}