{"id":"https://openalex.org/W2019366029","doi":"https://doi.org/10.1109/robio.2014.7090666","title":"An underactuated hand for efficient finger-gaiting-based dexterous manipulation","display_name":"An underactuated hand for efficient finger-gaiting-based dexterous manipulation","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2019366029","doi":"https://doi.org/10.1109/robio.2014.7090666","mag":"2019366029"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5102999599","display_name":"R. Raymond","orcid":"https://orcid.org/0000-0002-6275-4751"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Raymond R. Ma","raw_affiliation_strings":["Dept. of Mechanical Engineering and Material Science, Yale University, New Haven, CT","Dept. of Mechanical Engineering and Material Science, Yale University, New Haven CT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Material Science, Yale University, New Haven, CT","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Material Science, Yale University, New Haven CT","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004284487","display_name":"Aaron M. Dollar","orcid":"https://orcid.org/0000-0002-2409-4668"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron M. Dollar","raw_affiliation_strings":["Dept. of Mechanical Engineering and Material Science, Yale University, New Haven, CT","Dept. of Mechanical Engineering and Material Science, Yale University, New Haven CT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Material Science, Yale University, New Haven, CT","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Material Science, Yale University, New Haven CT","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2214","last_page":"2219"},"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9934999942779541,"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/underactuation","display_name":"Underactuation","score":0.968173086643219},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6989424824714661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6544423699378967},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5362690091133118},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4963539242744446},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4278084635734558},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.41868555545806885},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.41757065057754517},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3437211215496063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31326156854629517},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24974805116653442},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2158431112766266},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1334381103515625}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.968173086643219},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6989424824714661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6544423699378967},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5362690091133118},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4963539242744446},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4278084635734558},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.41868555545806885},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.41757065057754517},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3437211215496063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31326156854629517},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24974805116653442},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2158431112766266},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1334381103515625},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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":27,"referenced_works":["https://openalex.org/W1881109849","https://openalex.org/W1928136994","https://openalex.org/W1931406051","https://openalex.org/W1971688004","https://openalex.org/W1981249986","https://openalex.org/W2003329174","https://openalex.org/W2022024011","https://openalex.org/W2048058874","https://openalex.org/W2052863493","https://openalex.org/W2058902184","https://openalex.org/W2077959880","https://openalex.org/W2085545845","https://openalex.org/W2090696184","https://openalex.org/W2105386110","https://openalex.org/W2106618606","https://openalex.org/W2112036576","https://openalex.org/W2123062563","https://openalex.org/W2123951682","https://openalex.org/W2126701792","https://openalex.org/W2129000041","https://openalex.org/W2139086916","https://openalex.org/W2159717066","https://openalex.org/W2162556257","https://openalex.org/W2232279242","https://openalex.org/W2569769452","https://openalex.org/W4210660029","https://openalex.org/W6663777568"],"related_works":["https://openalex.org/W2221871885","https://openalex.org/W2207836806","https://openalex.org/W3185423629","https://openalex.org/W2568081447","https://openalex.org/W2331450479","https://openalex.org/W4289868286","https://openalex.org/W2736811689","https://openalex.org/W4200492927","https://openalex.org/W2585799039","https://openalex.org/W4286579638"],"abstract_inverted_index":{"This":[0,22],"paper":[1],"presents":[2],"a":[3,43,54],"minimalist,":[4],"four-finger":[5],"hand":[6],"comprised":[7],"of":[8,11,37,53,57,76],"two":[9],"pairs":[10],"tendon-driven,":[12],"underactuated":[13,39,77],"fingers":[14],"decoupled":[15],"by":[16],"an":[17],"independent,":[18],"central,":[19],"rotating":[20],"axis.":[21],"mechanical":[23],"configuration":[24],"allows":[25],"for":[26],"finger-gaiting":[27,62],"while":[28,66],"also":[29],"retaining":[30,67],"the":[31,38,45,68],"passive":[32],"adaptability":[33],"and":[34,63,72,88,93],"other":[35],"capabilities":[36],"finger":[40],"pairs.":[41],"As":[42],"result,":[44],"hand,":[46],"requiring":[47],"only":[48],"four":[49],"actuators,":[50],"is":[51,83],"capable":[52],"unique":[55],"set":[56],"dexterous":[58],"manipulation":[59],"primitives,":[60],"including":[61],"precision":[64,71],"manipulation,":[65],"robust,":[69],"adaptive":[70],"power":[73],"grasping":[74],"behavior":[75],"hands.":[78],"The":[79],"low-cost,":[80],"compact":[81],"design":[82],"built":[84],"with":[85],"rapid-prototyping":[86],"techniques":[87],"off-the-shelf":[89],"components,":[90],"enabling":[91],"quick":[92],"inexpensive":[94],"fabrication":[95],"that":[96],"can":[97],"be":[98],"produced":[99],"using":[100],"even":[101],"desktop":[102],"FDM":[103],"3D":[104],"printers.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}