{"id":"https://openalex.org/W4399939185","doi":"https://doi.org/10.1109/lra.2024.3418277","title":"PEGrip: A Plant-Tendril-Inspired Passive Entanglement Gripper Enabling Fail-Safe Grasping","display_name":"PEGrip: A Plant-Tendril-Inspired Passive Entanglement Gripper Enabling Fail-Safe Grasping","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4399939185","doi":"https://doi.org/10.1109/lra.2024.3418277"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3418277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3418277","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/A5103096540","display_name":"Longchuan Li","orcid":"https://orcid.org/0000-0001-8242-8243"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Longchuan Li","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090486190","display_name":"Shuqian He","orcid":"https://orcid.org/0009-0006-9830-6535"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuqian He","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058331778","display_name":"Qiukai Qi","orcid":"https://orcid.org/0000-0001-8720-6391"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Qiukai Qi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099431832","display_name":"Jianing Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianing Zeng","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041185116","display_name":"Shuai Kang","orcid":"https://orcid.org/0000-0002-4346-0889"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Kang","raw_affiliation_strings":["College of Mechanical and Electrical, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Nabae","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Suzumori","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5103096540"],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":2.3149,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.87528372,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"8","first_page":"7039","last_page":"7046"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9970999956130981,"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/tendril","display_name":"Tendril","score":0.9579172134399414},{"id":"https://openalex.org/keywords/quantum-entanglement","display_name":"Quantum entanglement","score":0.6623450517654419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3525996506214142},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2308809757232666},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1380300223827362},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.07318198680877686},{"id":"https://openalex.org/keywords/botany","display_name":"Botany","score":0.04713845252990723}],"concepts":[{"id":"https://openalex.org/C176472771","wikidata":"https://www.wikidata.org/wiki/Q165859","display_name":"Tendril","level":2,"score":0.9579172134399414},{"id":"https://openalex.org/C121040770","wikidata":"https://www.wikidata.org/wiki/Q215675","display_name":"Quantum entanglement","level":3,"score":0.6623450517654419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3525996506214142},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2308809757232666},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1380300223827362},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.07318198680877686},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.04713845252990723},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2024.3418277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3418277","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:repository.hkust.edu.hk:1783.1-139968","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-139968","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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:t2r2.star.titech.ac.jp:50725174","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100929335","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1872796570","https://openalex.org/W1946746497","https://openalex.org/W1962898515","https://openalex.org/W2007453190","https://openalex.org/W2027454283","https://openalex.org/W2055477611","https://openalex.org/W2085503621","https://openalex.org/W2127966735","https://openalex.org/W2178171272","https://openalex.org/W2273215869","https://openalex.org/W2556078315","https://openalex.org/W2566467848","https://openalex.org/W2567552155","https://openalex.org/W2752165401","https://openalex.org/W2784648116","https://openalex.org/W2791272065","https://openalex.org/W2900756699","https://openalex.org/W2909860646","https://openalex.org/W2911967540","https://openalex.org/W2953423523","https://openalex.org/W2980227422","https://openalex.org/W3004255701","https://openalex.org/W3014221316","https://openalex.org/W3093680773","https://openalex.org/W3097531163","https://openalex.org/W3134132603","https://openalex.org/W3134373680","https://openalex.org/W3155140745","https://openalex.org/W3187982928","https://openalex.org/W4200050035","https://openalex.org/W4280528416","https://openalex.org/W4304098865","https://openalex.org/W4389667336"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4232412644","https://openalex.org/W2036112243","https://openalex.org/W2359445606","https://openalex.org/W1999463011","https://openalex.org/W2345144348","https://openalex.org/W4385686680","https://openalex.org/W2585567736"],"abstract_inverted_index":{"Soft":[0],"robotics,":[1],"including":[2],"soft":[3,21,216],"grippers":[4,23,203,218],"and":[5,14,26,41,86,102,127,221],"manipulators,":[6],"are":[7,204],"increasingly":[8],"required":[9],"to":[10,39,53,152,168],"function":[11],"more":[12],"adaptively":[13],"securely":[15],"in":[16,141,183],"unknown":[17],"environments.":[18],"However,":[19],"conventional":[20,198],"pneumatic":[22,55,217],"often":[24],"grasp":[25],"hold":[27],"objects":[28,46],"via":[29],"the":[30,50,54,62,83,87,91,110,115,135,177,189,201,210,213],"active":[31],"bending":[32],"of":[33,49,65,96,118,138,144,155,159,180,191,196,215],"multiple":[34],"fingers,":[35],"making":[36],"it":[37],"challenging":[38],"grip":[40],"hold,":[42],"for":[43,105,212],"example,":[44],"spiny":[45],"safely":[47],"because":[48],"potential":[51],"damage":[52],"chambers.":[56],"In":[57],"this":[58,139,181,192],"letter,":[59],"inspired":[60],"by":[61,80,123,187],"entanglement":[63,85,106,116],"behavior":[64,117],"plant":[66],"tendrils,":[67],"we":[68,113],"propose":[69],"a":[70,119,142,157,184,197],"soft,":[71],"pneumatic,":[72],"fail-safe":[73,76,178,220],"gripper.":[74],"The":[75,148],"property":[77,179],"is":[78],"guaranteed":[79],"two":[81,202],"mechanisms,":[82],"passive":[84],"redundant":[88],"contacts.":[89],"Specifically,":[90],"gripper":[92,140,149,182,193,199],"exploits":[93],"an":[94],"array":[95],"tentacle":[97,121],"fingers":[98],"that":[99,195],"actively":[100],"extend":[101],"passively":[103],"entangle":[104],"grasping.":[107,223],"To":[108],"understand":[109],"working":[111],"principle,":[112],"studied":[114],"single":[120],"finger":[122],"both":[124],"analytical":[125],"modeling":[126],"finite":[128],"element":[129],"method":[130],"simulation.":[131],"We":[132,174],"also":[133],"characterized":[134],"griping":[136],"capability":[137],"series":[143],"different":[145,160],"grasping":[146,156],"experiments.":[147],"was":[150],"demonstrated":[151],"be":[153],"capable":[154],"range":[158],"objects,":[161],"from":[162],"artificial":[163],"ones":[164],"with":[165,171,194,219],"simple":[166],"shapes":[167],"real-world":[169],"targets":[170],"complex":[172],"shapes.":[173],"finally":[175],"showcased":[176],"pick-and-lift":[185],"task":[186],"comparing":[188],"performance":[190],"when":[200],"manually":[205],"damaged.":[206],"This":[207],"work":[208],"paves":[209],"way":[211],"development":[214],"reliable":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}