{"id":"https://openalex.org/W4376851361","doi":"https://doi.org/10.1109/mra.2023.3269404","title":"Automatic Gripper-Finger Design, Production, and Application: Toward Fast and Cost-Effective Small-Batch Production","display_name":"Automatic Gripper-Finger Design, Production, and Application: Toward Fast and Cost-Effective Small-Batch Production","publication_year":2023,"publication_date":"2023-05-16","ids":{"openalex":"https://openalex.org/W4376851361","doi":"https://doi.org/10.1109/mra.2023.3269404"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2023.3269404","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/mra.2023.3269404","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","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/A5066720396","display_name":"Johannes Ringwald","orcid":"https://orcid.org/0000-0002-9539-2558"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Johannes Ringwald","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075430821","display_name":"Shaochuan Zong","orcid":"https://orcid.org/0009-0002-0819-9918"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaochuan Zong","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047256346","display_name":"Abdalla Swikir","orcid":"https://orcid.org/0000-0002-4154-7446"},"institutions":[{"id":"https://openalex.org/I299799659","display_name":"Omar Al-Mukhtar University","ror":"https://ror.org/01wykm490","country_code":"LY","type":"education","lineage":["https://openalex.org/I299799659"]},{"id":"https://openalex.org/I78650965","display_name":"TU Dresden","ror":"https://ror.org/042aqky30","country_code":"DE","type":"education","lineage":["https://openalex.org/I78650965"]}],"countries":["DE","LY"],"is_corresponding":false,"raw_author_name":"Abdalla Swikir","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany","Centre for Tactile Internet with Human-in-the-Loop, Technical University Dresden, Dresden, Germany","Department of Electrical and Electronic Engineering, Omar Al-Mukhtar University, Albaida, Libya"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Centre for Tactile Internet with Human-in-the-Loop, Technical University Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I78650965"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Omar Al-Mukhtar University, Albaida, Libya","institution_ids":["https://openalex.org/I299799659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I78650965","display_name":"TU Dresden","ror":"https://ror.org/042aqky30","country_code":"DE","type":"education","lineage":["https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany","Centre for Tactile Internet with Human-in-the-Loop, Technical University Dresden, Dresden, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence, Technical University Munich, Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Centre for Tactile Internet with Human-in-the-Loop, Technical University Dresden, Dresden, Germany","institution_ids":["https://openalex.org/I78650965"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066720396"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56731184,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"30","issue":"2","first_page":"46","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/flexibility","display_name":"Flexibility (engineering)","score":0.5958366394042969},{"id":"https://openalex.org/keywords/batch-production","display_name":"Batch production","score":0.5875851511955261},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.587230384349823},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5761400461196899},{"id":"https://openalex.org/keywords/production-line","display_name":"Production line","score":0.5364853143692017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5165752172470093},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4702630937099457},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.45979779958724976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39656466245651245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36717501282691956},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3516712784767151},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3422502875328064},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1098594069480896}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5958366394042969},{"id":"https://openalex.org/C2776043813","wikidata":"https://www.wikidata.org/wiki/Q1759113","display_name":"Batch production","level":2,"score":0.5875851511955261},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.587230384349823},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5761400461196899},{"id":"https://openalex.org/C99862985","wikidata":"https://www.wikidata.org/wiki/Q10858068","display_name":"Production line","level":2,"score":0.5364853143692017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5165752172470093},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4702630937099457},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.45979779958724976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39656466245651245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36717501282691956},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3516712784767151},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3422502875328064},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1098594069480896},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mra.2023.3269404","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/mra.2023.3269404","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1717378","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1717378","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2770784685","display_name":null,"funder_award_id":"DIK0249","funder_id":"https://openalex.org/F4320331012","funder_display_name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie"}],"funders":[{"id":"https://openalex.org/F4320331012","display_name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1965557606","https://openalex.org/W2034966370","https://openalex.org/W2099841506","https://openalex.org/W2108284003","https://openalex.org/W2118737809","https://openalex.org/W2159386647","https://openalex.org/W2205969003","https://openalex.org/W2533621232","https://openalex.org/W2549803649","https://openalex.org/W2781597081","https://openalex.org/W2904985412","https://openalex.org/W2908665589","https://openalex.org/W2935948797","https://openalex.org/W2974526674","https://openalex.org/W2981259738","https://openalex.org/W3104828860","https://openalex.org/W4221166013","https://openalex.org/W4319990504","https://openalex.org/W6786109978","https://openalex.org/W6809596220"],"related_works":["https://openalex.org/W1576801573","https://openalex.org/W2113563803","https://openalex.org/W2354123958","https://openalex.org/W2379725088","https://openalex.org/W2348134434","https://openalex.org/W2610412604","https://openalex.org/W2354991987","https://openalex.org/W97175582","https://openalex.org/W2352929948","https://openalex.org/W2245771214"],"abstract_inverted_index":{"Tactile":[0],"robot-based":[1],"assembly":[2,41,161],"line":[3],"adaptation":[4,60,162],"of":[5,18,33,118],"new":[6],"products":[7],"is":[8],"still":[9],"limited":[10],"by":[11],"the":[12,19,23,31,34,73,115,119,132,160],"manual":[13],"redesign,":[14],"manufacturing,":[15],"and":[16,53,99,105,134,149,165],"exchange":[17],"end-effector":[20],"setup":[21],"since":[22,159],"gripper":[24],"fingers":[25],"must":[26],"often":[27],"be":[28],"adapted":[29],"to":[30,37,57,70],"geometry":[32],"product":[35],"components":[36],"ensure":[38],"a":[39,76,84,138,153],"successful":[40],"process.":[42,61],"In":[43],"this":[44,59],"article":[45],"we":[46,129],"present":[47],"an":[48,95],"automatic":[49,96,145],"finger":[50],"design,":[51,147],"production,":[52,148,158],"evaluation":[54],"pipeline,":[55],"developed":[56],"improve":[58],"Two":[62],"different":[63,110],"form-closure\u2013based":[64],"design":[65,121,127,141],"principles":[66],"have":[67],"been":[68],"implemented":[69],"automatically":[71],"generate":[72],"fingertip":[74,126,146],"geometry:":[75],"projected":[77],"surface":[78,86],"representation-based":[79],"approach":[80],"as":[81,83],"well":[82],"B\u00e9zier":[85],"fitting":[87],"strategy.":[88],"The":[89,143],"resulting":[90],"fingertips":[91],"are":[92,167],"printed":[93],"via":[94],"production":[97],"unit":[98],"experimentally":[100],"evaluated":[101],"based":[102],"on":[103],"pick":[104],"insertion":[106],"tasks":[107],"for":[108,123,137],"three":[109],"manipulation":[111],"objects.":[112],"To":[113],"illustrate":[114],"potential":[116],"usage":[117],"introduced":[120],"methods":[122],"machine":[124],"learning-based":[125],"approaches,":[128],"set":[130],"up":[131],"training":[133],"testing":[135],"process":[136],"neural":[139],"network-based":[140],"method.":[142],"proposed":[144],"application":[150],"framework":[151],"represent":[152],"step":[154],"further":[155],"toward":[156],"small-batch\u2013size":[157],"effort,":[163],"flexibility,":[164],"scalability":[166],"significantly":[168],"improved.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
