{"id":"https://openalex.org/W2146932530","doi":"https://doi.org/10.1109/robio.2009.5420428","title":"The indirect style under-actuated robotic finger with tendon-slider mechanisms","display_name":"The indirect style under-actuated robotic finger with tendon-slider mechanisms","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2146932530","doi":"https://doi.org/10.1109/robio.2009.5420428","mag":"2146932530"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100447598","display_name":"Long Wang","orcid":"https://orcid.org/0000-0003-3476-6779"},"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":true,"raw_author_name":"Long Wang","raw_affiliation_strings":["Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102941157","display_name":"Wenzeng Zhang","orcid":"https://orcid.org/0000-0003-3537-147X"},"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":"Wenzeng Zhang","raw_affiliation_strings":["Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079452133","display_name":"Yuming Ye","orcid":"https://orcid.org/0000-0003-4944-6399"},"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":"Yuming Ye","raw_affiliation_strings":["Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435658","display_name":"Qiang Chen","orcid":"https://orcid.org/0000-0001-9684-1098"},"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":"Qiang Chen","raw_affiliation_strings":["Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062385774","display_name":"Dong Du","orcid":"https://orcid.org/0000-0003-4098-7025"},"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":"Dong Du","raw_affiliation_strings":["Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Materials Processing Technology Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education Department of Mechanical Engineering, Tsinghua University Beijing 100084 (P. R. China)","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100447598"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12227031,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"1790","last_page":"1795"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9775000214576721,"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/slider","display_name":"Slider","score":0.8822153806686401},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7921164035797119},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.6278141736984253},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5804203152656555},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5205898284912109},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49413493275642395},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.46495282649993896},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4611312448978424},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4407433271408081},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3951054811477661},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3747639060020447},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26886045932769775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24233746528625488},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.09150838851928711},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09111085534095764}],"concepts":[{"id":"https://openalex.org/C2776585123","wikidata":"https://www.wikidata.org/wiki/Q424666","display_name":"Slider","level":2,"score":0.8822153806686401},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7921164035797119},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.6278141736984253},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5804203152656555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5205898284912109},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49413493275642395},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.46495282649993896},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4611312448978424},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4407433271408081},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3951054811477661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3747639060020447},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26886045932769775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24233746528625488},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09150838851928711},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09111085534095764},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1484892891","https://openalex.org/W1998664098","https://openalex.org/W1999597131","https://openalex.org/W2097189012","https://openalex.org/W2121378538","https://openalex.org/W2134167019","https://openalex.org/W2149436826","https://openalex.org/W2155113159","https://openalex.org/W2158240479","https://openalex.org/W2161636262","https://openalex.org/W2390423373","https://openalex.org/W2856691699","https://openalex.org/W6682196929","https://openalex.org/W6682873817"],"related_works":["https://openalex.org/W2049269961","https://openalex.org/W2067952231","https://openalex.org/W2018097953","https://openalex.org/W4310670043","https://openalex.org/W2032351411","https://openalex.org/W2014021871","https://openalex.org/W2526622367","https://openalex.org/W4399557464","https://openalex.org/W2139972980","https://openalex.org/W2207836806"],"abstract_inverted_index":{"This":[0],"paper":[1,99],"proposed":[2],"a":[3,23,47,69],"novel":[4],"concept":[5],"of":[6,40,124],"indirect":[7,84],"under-actuation":[8],"with":[9,15,88,108],"tendon-slider":[10,29,71],"mechanism.":[11,72,86],"A":[12],"mechanical":[13],"finger":[14,31,93],"the":[16,38,41,43,50,55,62,75,79,83,92,104,112,117,120],"mechanism":[17,114],"was":[18,58],"designed":[19,96,113],"and":[20,94,122],"integrated":[21],"into":[22],"humanoid":[24],"robotic":[25],"hand-TH-2T":[26],"Hand.":[27],"The":[28],"under-actuated":[30,85],"proves":[32],"simple":[33],"but":[34],"works":[35],"well.":[36],"In":[37],"design":[39],"finger,":[42],"reaction":[44],"force":[45],"against":[46],"slider":[48],"in":[49,97],"base":[51],"segment":[52,64],"produced":[53],"by":[54],"grasped":[56,105],"object":[57],"adopted":[59],"to":[60,103],"make":[61],"next":[63],"bend,":[65],"which":[66],"relies":[67],"on":[68,78],"special":[70],"Further,":[73],"all":[74],"five":[76],"fingers":[77],"TH-2T":[80],"Hand":[81],"applies":[82],"Compared":[87],"those":[89,109],"full-active":[90],"fingers,":[91],"hand":[95],"this":[98],"have":[100],"strong":[101],"self-adaptation":[102],"object;":[106],"compared":[107],"direct":[110],"under-actuations,":[111],"effectively":[115],"simplifies":[116],"structure,":[118],"decreases":[119],"volume":[121],"costs":[123],"manufacturing.":[125]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
