{"id":"https://openalex.org/W2104896093","doi":"https://doi.org/10.1109/robio.2009.5420706","title":"Development of bio-mimetic robot hand using parallel mechanisms","display_name":"Development of bio-mimetic robot hand using parallel mechanisms","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2104896093","doi":"https://doi.org/10.1109/robio.2009.5420706","mag":"2104896093"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420706","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/A5054673275","display_name":"Seok-Won Lee","orcid":"https://orcid.org/0000-0001-9560-9262"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seokwon Lee","raw_affiliation_strings":["Center of Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","School of Mechanical Engineering, Hanyang University, Seoul,#N#Korea"],"affiliations":[{"raw_affiliation_string":"Center of Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul,#N#Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016750309","display_name":"Samyeul Noh","orcid":"https://orcid.org/0000-0002-4161-5453"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Samyeul Noh","raw_affiliation_strings":["Center of Cognitive Robotics Research, Korea Advanced Institute of Science and Technology, Seoul, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Center of Cognitive Robotics Research, Korea Advanced Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041639485","display_name":"Yongkwun Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yongkwun Lee","raw_affiliation_strings":["Center of Cognitive Robotics Research, Korea Advanced Institute of Science and Technology, Seoul, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Center of Cognitive Robotics Research, Korea Advanced Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103029432","display_name":"Jong Hyeon Park","orcid":"https://orcid.org/0000-0001-6263-375X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hyeon Park","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea","School of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea;"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea;","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054673275"],"corresponding_institution_ids":["https://openalex.org/I4575257","https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":3.8271,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.93378827,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"550","last_page":"555"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9962000250816345,"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":0.9879000186920166,"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/workspace","display_name":"Workspace","score":0.8136990070343018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6926829814910889},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6849163770675659},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.6530117392539978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6074605584144592},{"id":"https://openalex.org/keywords/linear-actuator","display_name":"Linear actuator","score":0.5841840505599976},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5308201313018799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.523483395576477},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5180047154426575},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.46653488278388977},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.446390300989151},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43255794048309326},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39517703652381897},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3094441890716553}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8136990070343018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6926829814910889},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6849163770675659},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.6530117392539978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6074605584144592},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.5841840505599976},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5308201313018799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.523483395576477},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5180047154426575},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.46653488278388977},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.446390300989151},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43255794048309326},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39517703652381897},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3094441890716553},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420706","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W173264240","https://openalex.org/W179372779","https://openalex.org/W1256870269","https://openalex.org/W1484892891","https://openalex.org/W1495516235","https://openalex.org/W1986610929","https://openalex.org/W1996630649","https://openalex.org/W1999375810","https://openalex.org/W2049415372","https://openalex.org/W2076188106","https://openalex.org/W2085545845","https://openalex.org/W2095852913","https://openalex.org/W2100699731","https://openalex.org/W2102425457","https://openalex.org/W2105360813","https://openalex.org/W2125583715","https://openalex.org/W2134805236","https://openalex.org/W2144573888","https://openalex.org/W2152605277","https://openalex.org/W2159717066","https://openalex.org/W2161636262","https://openalex.org/W2335551476","https://openalex.org/W2341668857","https://openalex.org/W2536243262","https://openalex.org/W2542370644","https://openalex.org/W2585491609","https://openalex.org/W3142545321","https://openalex.org/W4253527034","https://openalex.org/W4256526535","https://openalex.org/W6627901521","https://openalex.org/W6649455214","https://openalex.org/W6682797434","https://openalex.org/W6728817809","https://openalex.org/W6729237368"],"related_works":["https://openalex.org/W2018667201","https://openalex.org/W3027667018","https://openalex.org/W4205469505","https://openalex.org/W2149699537","https://openalex.org/W2088476797","https://openalex.org/W2570668074","https://openalex.org/W4386942737","https://openalex.org/W2953528623","https://openalex.org/W2743365074","https://openalex.org/W2187953557"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3],"development":[4],"of":[5,32,85,109,114,125,137,144],"bio-mimetic":[6],"robot":[7,14,63,89,116,139],"hands":[8],"and":[9,43,70,77,102],"its":[10],"control":[11],"scheme.":[12],"Each":[13,50],"hand":[15,64,90,117,140],"has":[16,78,91],"four":[17],"under-actuated":[18],"fingers,":[19],"which":[20],"are":[21,130],"driven":[22],"by":[23,56],"two":[24,99],"linear":[25,100],"actuators":[26,101],"coupled.":[27],"According":[28],"to":[29,141],"the":[30,33,47,68,71,83,106,112,115,122,126,135,138],"study":[31],"human":[34,75],"hand,":[35],"it":[36],"is":[37,118],"noted":[38],"that":[39],"coupled":[40],"muscles":[41],"(flexor":[42],"extensor":[44],"muscle)":[45],"generate":[46],"finger":[48],"motion.":[49],"fingertip":[51],"can":[52],"reach":[53],"toward":[54],"objects":[55],"curved":[57],"surface":[58],"workspace":[59],"in":[60,121],"3D-space.":[61],"The":[62,88,132],"was":[65],"designed":[66],"considering":[67],"dexterity":[69],"size":[72],"suited":[73],"for":[74],"tools":[76,143],"tactile":[79],"sensors":[80],"equipped":[81],"on":[82],"fingertips":[84],"each":[86],"finger.":[87],"4":[92],"fingers":[93],"with":[94],"totally":[95],"nine":[96],"DOFs":[97],"including":[98],"linkage":[103],"knuckles.":[104],"In":[105],"former":[107],"part":[108,124],"this":[110],"paper,":[111,127],"design":[113],"presented.":[119],"And":[120],"latter":[123],"computational":[128],"simulations":[129,133],"described.":[131],"show":[134],"performance":[136],"manipulate":[142],"various":[145],"shapes.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}