{"id":"https://openalex.org/W7155225461","doi":"https://doi.org/10.1109/lra.2026.3686682","title":"Single-Actuator Gripper Using an Antagonistic Cable-Driven Differential Mechanism for Adaptive Fixed-Position Grasping","display_name":"Single-Actuator Gripper Using an Antagonistic Cable-Driven Differential Mechanism for Adaptive Fixed-Position Grasping","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155225461","doi":"https://doi.org/10.1109/lra.2026.3686682"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3686682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686682","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5129501121","display_name":"X Y Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Jiang","raw_affiliation_strings":["School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0004-5856-2193","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125699958","display_name":"Jiahao Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Shen","raw_affiliation_strings":["School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-2941-4572","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113689028","display_name":"Diwei Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diwei Huang","raw_affiliation_strings":["School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0006-4099-7572","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056692370","display_name":"Xiang Cheng","orcid":"https://orcid.org/0000-0002-7298-1800"},"institutions":[{"id":"https://openalex.org/I4210120485","display_name":"Academy of Mathematics and Systems Science","ror":"https://ror.org/02jkmyk67","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210120485"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Cheng","raw_affiliation_strings":["China Academy of Aerospace System and Innovation, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7298-1800","affiliations":[{"raw_affiliation_string":"China Academy of Aerospace System and Innovation, Beijing, China","institution_ids":["https://openalex.org/I4210120485"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134324145","display_name":"Chongkun Xia","orcid":"https://orcid.org/0000-0001-5396-7643"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongkun Xia","raw_affiliation_strings":["School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5396-7643","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644629","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-7163-345X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7163-345X","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44424521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7284","last_page":"7291"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.22089999914169312,"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":0.22089999914169312,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.1988999992609024,"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":0.1551000028848648,"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/mechanism","display_name":"Mechanism (biology)","score":0.5777999758720398},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49549999833106995},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.41350001096725464},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.3330000042915344},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.31769999861717224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3086000084877014}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5777999758720398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5041999816894531},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49549999833106995},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38510000705718994},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3082999885082245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29440000653266907},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25940001010894775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3686682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686682","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8403574824333191}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2112777749","https://openalex.org/W2518020775","https://openalex.org/W2747172592","https://openalex.org/W2750576582","https://openalex.org/W3004460496","https://openalex.org/W3041466979","https://openalex.org/W3043212438","https://openalex.org/W4210258247","https://openalex.org/W4285190763","https://openalex.org/W4285507463","https://openalex.org/W4316877031","https://openalex.org/W4317515505","https://openalex.org/W4386869592","https://openalex.org/W4387623774","https://openalex.org/W4389735194","https://openalex.org/W4392207714","https://openalex.org/W4400491825","https://openalex.org/W4405280464","https://openalex.org/W4406289185","https://openalex.org/W4408251929","https://openalex.org/W4408406076","https://openalex.org/W4408861541","https://openalex.org/W4416133244"],"related_works":[],"abstract_inverted_index":{"Fixed-position":[0],"grasping":[1],"is":[2,70,98,105,144],"an":[3,64,140],"efficient":[4],"strategy":[5],"in":[6,72,155],"robotic":[7],"assembly.":[8],"Adaptive":[9],"grippers":[10],"employing":[11],"differential":[12,30,67,74],"mechanisms":[13,31],"(DMs)":[14],"can":[15],"passively":[16],"compensate":[17],"for":[18,194],"misalignment":[19],"between":[20,91],"gripper":[21,61,96,128,143,164],"and":[22,38,50,94,100,112,152,188],"object.":[23,138],"However,":[24],"conventional":[25],"DMs,":[26],"such":[27],"as":[28],"gear-based":[29,167],"(GDMs),":[32],"are":[33,77,129],"limited":[34],"by":[35,173],"rotational":[36],"inertia":[37],"friction,":[39],"generating":[40],"excessive":[41],"contact":[42,134,171],"forces":[43,135],"that":[44,161],"compromise":[45],"the":[46,92,95,109,114,123,126,133,137,162,170,185],"object's":[47],"positional":[48,200],"stability":[49],"ultimately":[51],"degrade":[52],"assembly":[53],"accuracy.":[54],"To":[55],"address":[56],"this":[57],"issue,":[58],"a":[59,101,166,175,197],"single-actuator":[60],"based":[62],"on":[63,136],"antagonistic":[65],"cable-driven":[66],"mechanism":[68],"(CDDM)":[69],"proposed,":[71],"which":[73],"cable":[75],"tensions":[76],"converted":[78],"into":[79],"low-friction":[80],"pulley":[81],"rotations":[82],"to":[83,107,119,131,146,191],"enable":[84],"low-contact-force":[85],"adaptive":[86,141,153],"grasping.":[87,157],"The":[88],"kinematic":[89],"relationship":[90],"CDDM":[93],"stroke":[97,116],"modeled,":[99],"kinematics-based":[102],"optimization":[103],"method":[104],"developed":[106],"minimize":[108],"gripper's":[110],"dimensions":[111],"achieve":[113],"prescribed":[115],"without":[117],"converging":[118],"local":[120],"optima.":[121],"Furthermore,":[122],"dynamics":[124],"of":[125,179],"CDDM-based":[127,142],"established":[130],"evaluate":[132],"Finally,":[139],"built":[145],"validate":[147],"its":[148],"payload":[149],"capacity,":[150],"repeatability,":[151],"performance":[154],"fixed-position":[156],"Experimental":[158],"results":[159],"show":[160],"proposed":[163],"outperforms":[165],"design,":[168],"reducing":[169],"force":[172],"53.28%,":[174],"repeatability":[176],"displacement":[177],"accuracy":[178],"less":[180],"than":[181],"0.30":[182],"mm":[183,193,199],"during":[184],"long-term":[186],"operation,":[187],"limiting":[189],"error":[190],"0.28":[192],"picks":[195],"with":[196],"4.02":[198],"offset.":[201]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-04-23T00:00:00"}
