{"id":"https://openalex.org/W2292136390","doi":"https://doi.org/10.1109/robio.2015.7418956","title":"SCHU hand: A novel self-adaptive robot hand with single-column hybrid underactuated grasp","display_name":"SCHU hand: A novel self-adaptive robot hand with single-column hybrid underactuated grasp","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2292136390","doi":"https://doi.org/10.1109/robio.2015.7418956","mag":"2292136390"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5112200211","display_name":"Sicheng Yang","orcid":null},"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":"Sicheng Yang","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071309419","display_name":"Guoxuan Li","orcid":"https://orcid.org/0000-0002-7298-1819"},"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":"Guoxuan Li","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","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":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, 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":1.7041,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86730292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1337","last_page":"1342"},"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":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9890000224113464,"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/grasp","display_name":"GRASP","score":0.9212631583213806},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8896175622940063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5819284915924072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5341842174530029},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4981215000152588},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45493847131729126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4326869249343872},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41227248311042786},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4103078842163086},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3861115574836731},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32458677887916565},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10269397497177124}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9212631583213806},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8896175622940063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5819284915924072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5341842174530029},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4981215000152588},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45493847131729126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4326869249343872},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41227248311042786},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4103078842163086},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3861115574836731},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32458677887916565},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10269397497177124},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W617325668","https://openalex.org/W1969662188","https://openalex.org/W1992412958","https://openalex.org/W1998664098","https://openalex.org/W2000489460","https://openalex.org/W2029744358","https://openalex.org/W2033246370","https://openalex.org/W2057655055","https://openalex.org/W2066878366","https://openalex.org/W2072385776","https://openalex.org/W2097189012","https://openalex.org/W2098335677","https://openalex.org/W2129476164","https://openalex.org/W2133694148","https://openalex.org/W2164575107"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2157487448","https://openalex.org/W2387707337","https://openalex.org/W2078568084","https://openalex.org/W4200004409","https://openalex.org/W2657478029","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W4387962997"],"abstract_inverted_index":{"On":[0,14],"one":[1,100],"hand,":[2,17],"traditional":[3,23,48],"coupled":[4,49,66,116],"fingers":[5,50],"have":[6],"no":[7],"ability":[8],"to":[9,43,127],"grasp":[10,69],"an":[11,33],"object":[12,34],"self-adaptively.":[13],"the":[15,18,36,45,75,80,115,119,123,140],"other":[16],"grasping":[19,106,141],"process":[20],"of":[21,39,47,96,139],"a":[22,57],"self-adaptive":[24,52,68,120],"underactuated":[25,61],"finger":[26,63,78,92],"is":[27,125],"not":[28],"anthropomorphic":[29],"and":[30,51,67,79,98,105,118,122,135,137],"cannot":[31],"pinch":[32],"by":[35],"end":[37],"phalanges":[38],"fingers.":[40,90],"In":[41],"order":[42],"overcome":[44],"shortcomings":[46],"fingers,":[53],"this":[54,73],"paper":[55],"proposes":[56],"novel":[58],"single-column":[59],"hybrid":[60],"(SCHU)":[62],"mechanism":[64],"with":[65,132],"mode.":[70],"Based":[71],"on":[72],"mechanism,":[74],"2-joint":[76],"SCHU":[77,81,85,110],"Hand":[82,86,111],"are":[83],"designed.":[84],"has":[87,93],"three":[88],"identical":[89],"Each":[91],"2":[94],"degrees":[95],"freedom":[97],"only":[99],"motor.":[101],"The":[102],"theoretical":[103],"analysis":[104],"experiments":[107],"show":[108],"that":[109],"can":[112],"efficiently":[113],"coordinate":[114],"mode":[117],"mode,":[121],"hand":[124],"capable":[126],"ensure":[128],"both":[129],"encompassing":[130],"objects":[131],"different":[133],"sizes":[134],"shapes":[136],"anthropomorphism":[138],"action.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}