{"id":"https://openalex.org/W4392745227","doi":"https://doi.org/10.1109/lra.2024.3376953","title":"Single-Motor Robotic Gripper With Multi-Surface Fingers for Variable Grasping Configurations","display_name":"Single-Motor Robotic Gripper With Multi-Surface Fingers for Variable Grasping Configurations","publication_year":2024,"publication_date":"2024-03-13","ids":{"openalex":"https://openalex.org/W4392745227","doi":"https://doi.org/10.1109/lra.2024.3376953"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3376953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3376953","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.16320","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007478938","display_name":"Toshihiro Nishimura","orcid":"https://orcid.org/0000-0003-2858-6368"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Toshihiro Nishimura","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113140594","display_name":"Tokuo Tsuj","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuj","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061532363","display_name":"Tetsuyou Watanabe","orcid":"https://orcid.org/0000-0003-2549-1435"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuyou Watanabe","raw_affiliation_strings":["Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5007478938"],"corresponding_institution_ids":["https://openalex.org/I10091056"],"apc_list":null,"apc_paid":null,"fwci":2.2561,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.87359266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"9","issue":"5","first_page":"4114","last_page":"4121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9998999834060669,"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":0.9988999962806702,"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/mechanism","display_name":"Mechanism (biology)","score":0.7023534178733826},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6574615240097046},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.614330530166626},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5336101055145264},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47716110944747925},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4370865821838379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4222303330898285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4097023010253906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40773338079452515},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36707085371017456},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30152592062950134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16828230023384094},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1489083468914032}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7023534178733826},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6574615240097046},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.614330530166626},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5336101055145264},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47716110944747925},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4370865821838379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4222303330898285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4097023010253906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40773338079452515},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36707085371017456},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30152592062950134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16828230023384094},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1489083468914032},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3376953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3376953","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:arXiv.org:2403.16320","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.16320","pdf_url":"https://arxiv.org/pdf/2403.16320","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.16320","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.16320","pdf_url":"https://arxiv.org/pdf/2403.16320","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6600000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1069223013","display_name":null,"funder_award_id":"JSPS KAKENHI","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3459562248","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G4636223006","display_name":null,"funder_award_id":"JSPS KAK","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G5506463476","display_name":null,"funder_award_id":"JP22K1","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G5616636304","display_name":"Multi-DOF soft robot hand with various grasping modes through underactuation","funder_award_id":"22K14220","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8430481527","display_name":null,"funder_award_id":"Number","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8643161050","display_name":null,"funder_award_id":"JP22K14220","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392745227.pdf","grobid_xml":"https://content.openalex.org/works/W4392745227.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2007924815","https://openalex.org/W2095852913","https://openalex.org/W2139990746","https://openalex.org/W2144573888","https://openalex.org/W2150737097","https://openalex.org/W2585466334","https://openalex.org/W2591888392","https://openalex.org/W2624234790","https://openalex.org/W2792901809","https://openalex.org/W2904908972","https://openalex.org/W3037772340","https://openalex.org/W3091338207","https://openalex.org/W3099210232","https://openalex.org/W3172295957","https://openalex.org/W4200133235","https://openalex.org/W4285102205","https://openalex.org/W4285190763","https://openalex.org/W4285792015","https://openalex.org/W4313518934","https://openalex.org/W4323351214","https://openalex.org/W4323644184"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259"],"abstract_inverted_index":{"This":[0,125,173],"study":[1,117],"proposes":[2],"a":[3,36,104,113,119],"novel":[4],"robotic":[5],"gripper":[6,20,26,80,130,142,177,199],"with":[7,52,83,103],"variable":[8],"grasping":[9,12,69,91,99,191],"configurations":[10,70],"for":[11,90],"various":[13],"objects.":[14],"The":[15,25,78,195],"fingers":[16,42,57,89,95,163],"of":[17,30,74,86,136,181,197],"the":[18,28,32,41,48,55,66,72,84,98,109,134,137,141,150,155,162,165,170,176,179,182,186,190,198],"developed":[19,79],"incorporate":[21,58],"multiple":[22],"different":[23],"surfaces.":[24,77],"possesses":[27],"function":[29],"altering":[31],"finger":[33,76,156,171],"surfaces":[34],"facing":[35],"target":[37],"object":[38],"by":[39,71],"rotating":[40,93,149],"in":[43,65],"its":[44,88,94],"longitudinal":[45],"direction.":[46],"In":[47,146],"proposed":[49],"design":[50],"equipped":[51,82],"two":[53,56,110],"fingers,":[54],"three":[59],"and":[60,92,189],"four":[61],"surfaces,":[62],"respectively,":[63],"resulting":[64],"nine":[67],"available":[68],"combination":[73],"these":[75],"is":[81,143,200],"functions":[85],"opening/closing":[87],"to":[96],"alter":[97],"configuration\u2014":[100],"all":[101],"achieved":[102],"single":[105,114],"motor.":[106],"To":[107],"enable":[108],"motions":[111,131],"using":[112],"motor,":[115],"this":[116,147],"introduces":[118],"self-motion":[120,183],"switching":[121,184],"mechanism":[122,126],"utilizing":[123],"magnets.":[124],"automatically":[127],"transitions":[128],"between":[129],"based":[132],"on":[133],"direction":[135],"motor":[138,151],"rotation":[139],"when":[140],"fully":[144,166],"opened.":[145],"state,":[148],"towards":[152],"closing":[153,157],"initiates":[154],"action,":[158],"while":[159],"further":[160],"opening":[161],"from":[164],"opened":[167],"state":[168],"activates":[169],"rotation.":[172],"letter":[174],"presents":[175],"design,":[178],"mechanics":[180],"mechanism,":[185],"control":[187],"method,":[188],"configuration":[192],"selection":[193],"strategy.":[194],"performance":[196],"experimentally":[201],"demonstrated.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2024-03-14T00:00:00"}