{"id":"https://openalex.org/W4391559473","doi":"https://doi.org/10.1109/lra.2024.3362671","title":"A Robot Hand for Versatile Grasping With Tendon-Driven Telescopic Fingers","display_name":"A Robot Hand for Versatile Grasping With Tendon-Driven Telescopic Fingers","publication_year":2024,"publication_date":"2024-02-06","ids":{"openalex":"https://openalex.org/W4391559473","doi":"https://doi.org/10.1109/lra.2024.3362671"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3362671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3362671","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/A5072709554","display_name":"Yiwei Wang","orcid":"https://orcid.org/0000-0002-0287-5607"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yiwei Wang","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093538736","display_name":"Kazuma Kakino","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuma Kakino","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634654","display_name":"Wenyang Li","orcid":"https://orcid.org/0000-0001-9499-7435"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wenyang Li","raw_affiliation_strings":["Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042274951","display_name":"Shunta Togo","orcid":"https://orcid.org/0000-0002-3464-0765"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunta Togo","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057191362","display_name":"Hiroshi Yokoi","orcid":"https://orcid.org/0000-0001-8571-1175"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Yokoi","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076935808","display_name":"Yinlai Jiang","orcid":"https://orcid.org/0000-0002-0825-6444"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yinlai Jiang","raw_affiliation_strings":["Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072709554"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":2.0926,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86020683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2957","last_page":"2964"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.992900013923645,"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/tendon","display_name":"Tendon","score":0.6349311470985413},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4783608317375183},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4743061065673828},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4457224905490875},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.421806275844574},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35397475957870483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35104140639305115},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.3341643214225769},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3206164836883545},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.30673062801361084}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.6349311470985413},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4783608317375183},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4743061065673828},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4457224905490875},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.421806275844574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35397475957870483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35104140639305115},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.3341643214225769},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3206164836883545},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.30673062801361084}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3362671","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3362671","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1999375810","https://openalex.org/W2033246370","https://openalex.org/W2081201005","https://openalex.org/W2098335677","https://openalex.org/W2103117443","https://openalex.org/W2126341038","https://openalex.org/W2143909231","https://openalex.org/W2296682917","https://openalex.org/W2544013339","https://openalex.org/W3094338872","https://openalex.org/W3099587965","https://openalex.org/W3166944604","https://openalex.org/W4210853116","https://openalex.org/W4365140254","https://openalex.org/W4383109183"],"related_works":["https://openalex.org/W2045352797","https://openalex.org/W2280685604","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W2162394694","https://openalex.org/W2593890329","https://openalex.org/W1988273910"],"abstract_inverted_index":{"Service":[0],"robots":[1],"need":[2],"robot":[3,17,31,137,162,200],"hands":[4],"that":[5,180,198],"are":[6],"versatile":[7],"to":[8,15,46,58,67,130,132,185],"grasp":[9,207],"various":[10],"objects":[11,48,172,187,196,211],"while":[12],"being":[13],"lightweight":[14],"ensure":[16],"mobility,":[18],"minimize":[19],"power":[20],"consumption,":[21],"and":[22,61,115,152],"prioritize":[23],"safety.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"propose":[29],"a":[30,42,82,164],"hand":[32,138,201],"capable":[33],"of":[34,38,49,73,85,93,98,123,159,173,209],"adjusting":[35,181],"the":[36,74,99,105,124,157,160,186,199,210],"length":[37,72,84,183],"its":[39],"fingers":[40,75,141,204],"using":[41,170],"tendon-driven":[43],"telescopic":[44,53,106,150,161,203],"mechanism":[45,54,97],"accommodate":[47],"different":[50,175],"sizes.":[51,176],"The":[52,70,95,135,177,191],"utilizes":[55],"embedded":[56],"wires":[57,111],"extend":[59],"actively":[60],"an":[62,90],"external":[63],"silicone":[64],"rubber":[65],"glove":[66],"contract":[68],"passively.":[69],"initial":[71],"is":[76,102,108,128],"set":[77],"at":[78],"81.5":[79],"mm,":[80,87],"with":[81,110,139,194,202],"maximum":[83],"141.5":[86],"resulting":[88],"in":[89,213],"elongation":[91],"rate":[92],"73.6%.":[94],"bending":[96,122],"finger,":[100],"which":[101],"independent":[103],"from":[104],"mechanism,":[107],"realized":[109],"for":[112,118,149],"active":[113],"flexion":[114],"torsion":[116],"springs":[117],"passive":[119],"extension.":[120],"Underactuated":[121],"three":[125],"finger":[126,153,182],"joints":[127],"incorporated":[129],"conform":[131],"object":[133],"shapes.":[134],"implemented":[136],"3":[140],"weighed":[142],"only":[143],"230":[144],"g":[145],"including":[146],"2":[147],"motors":[148],"extension":[151],"flexion.":[154],"To":[155],"evaluate":[156],"effectiveness":[158],"hand,":[163],"two-way":[165],"pull-out":[166],"experiment":[167],"was":[168],"conducted":[169],"cylindrical":[171],"seven":[174],"results":[178],"demonstrated":[179],"according":[184],"improves":[188],"grasping":[189,192],"stability.":[190],"experiments":[193],"daily":[195,214],"indicated":[197],"can":[205],"stably":[206],"most":[208],"used":[212],"life.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
