{"id":"https://openalex.org/W2592974823","doi":"https://doi.org/10.1109/robio.2016.7866602","title":"Manipulation &amp; workspace analysis of Dexclar: A newly formed DEXterous gripper","display_name":"Manipulation &amp; workspace analysis of Dexclar: A newly formed DEXterous gripper","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2592974823","doi":"https://doi.org/10.1109/robio.2016.7866602","mag":"2592974823"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5086900998","display_name":"Nahian Rahman","orcid":"https://orcid.org/0000-0002-5165-2821"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Nahian Rahman","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086638747","display_name":"Luca Carbonari","orcid":"https://orcid.org/0000-0003-4342-3751"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Carbonari","raw_affiliation_strings":["Department of Industrial Engineering & Mathematical Science, Polytechnic University of Marche, Ancona, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering & Mathematical Science, Polytechnic University of Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065930752","display_name":"Ferdinando Cannella","orcid":"https://orcid.org/0000-0001-7602-1850"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ferdinando Cannella","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086900998"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21450864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":null,"first_page":"1876","last_page":"1881"},"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":0.9991000294685364,"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":0.9973999857902527,"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/workspace","display_name":"Workspace","score":0.9498233199119568},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7997885942459106},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7099910974502563},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6428772807121277},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6259256601333618},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.614521861076355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6050287485122681},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5102849006652832},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.48944106698036194},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39767593145370483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38070163130760193},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.372993528842926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34038710594177246},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3125574588775635},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24606826901435852},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07221806049346924}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9498233199119568},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7997885942459106},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7099910974502563},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6428772807121277},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6259256601333618},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.614521861076355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6050287485122681},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5102849006652832},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.48944106698036194},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39767593145370483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38070163130760193},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.372993528842926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34038710594177246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3125574588775635},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24606826901435852},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07221806049346924},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2016.7866602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.univpm.it:11566/296789","is_oa":false,"landing_page_url":"http://hdl.handle.net/11566/296789","pdf_url":null,"source":{"id":"https://openalex.org/S4306402571","display_name":"Universit\u00e0 Politecnica delle Marche (Universit\u00e0 Politecnica delle Marche)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122534668","host_organization_name":"Marche Polytechnic University","host_organization_lineage":["https://openalex.org/I122534668"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1489844845","https://openalex.org/W1560270123","https://openalex.org/W1888892744","https://openalex.org/W1965961478","https://openalex.org/W1969416969","https://openalex.org/W1974706266","https://openalex.org/W1982488327","https://openalex.org/W1997560983","https://openalex.org/W2019165997","https://openalex.org/W2022024011","https://openalex.org/W2050708324","https://openalex.org/W2058912523","https://openalex.org/W2061343052","https://openalex.org/W2064878003","https://openalex.org/W2071662014","https://openalex.org/W2105957568","https://openalex.org/W2118935525","https://openalex.org/W2126701792","https://openalex.org/W2134167019","https://openalex.org/W2155386957","https://openalex.org/W2211217408","https://openalex.org/W2288692021","https://openalex.org/W2296446406","https://openalex.org/W2529120565","https://openalex.org/W3180482864","https://openalex.org/W4247031047","https://openalex.org/W6639434857","https://openalex.org/W6688344122","https://openalex.org/W7018676882"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W2295071091","https://openalex.org/W1989224798","https://openalex.org/W2122164124","https://openalex.org/W2738959291","https://openalex.org/W2138294832","https://openalex.org/W2043154226"],"abstract_inverted_index":{"This":[0],"paper":[1],"demonstrates":[2],"manipulation,":[3,170],"workspace":[4],"and":[5,61,95,125,156,172,180],"dimensional":[6],"synthesis":[7],"process":[8],"of":[9,24,51,64,97,134,151],"a":[10,55],"novel":[11],"gripper":[12,31,89,188],"named":[13],"Dexclar":[14,104,131],"(DEXterous":[15],"reConfigurable":[16],"moduLAR),":[17],"which":[18,91,110],"is":[19,32,82,105,111,132,146],"capable":[20],"to":[21,28,33,72,83,113,120,148,162,185],"manipulate":[22],"plurality":[23],"object.":[25],"The":[26,128],"aim":[27,150],"develop":[29],"such":[30],"address":[34],"some":[35,181],"current":[36],"industrial":[37],"issues":[38],"particularly":[39],"the":[40,59,65,79,88,93,98,123,149,168,187],"rising":[41],"in-hand":[42,169],"manipulation":[43,126,155],"problem.":[44,127],"Operations":[45],"like":[46],"twisting,":[47],"flipping,":[48],"altering":[49],"orientation":[50],"an":[52],"object,":[53],"in":[54,87,107],"hand,":[56],"require":[57],"both":[58,122],"dexterous":[60,139],"adaptable":[62,69],"properties":[63],"gripper.":[66],"To":[67,101],"be":[68],"or":[70,77],"flexible":[71],"numerous":[73],"objects":[74],"while":[75],"grasping":[76,171],"manipulating,":[78],"usual":[80],"practice":[81],"use":[84],"soft":[85],"material":[86,117],"design,":[90],"opposes":[92],"speed":[94],"dexterity":[96,124],"overall":[99],"operations.":[100],"solve":[102],"that,":[103],"proposed":[106],"this":[108,166],"paper,":[109,167],"supposed":[112],"build":[114],"with":[115,118,160],"rigid":[116],"accordance":[119,161],"meet":[121],"16":[129],"DOFs":[130],"consists":[133],"four":[135],"identical":[136],"modular":[137,144],"fingers,":[138],"among":[140],"all":[141],"axes.":[142],"Each":[143],"finger":[145],"conceived":[147],"satisfying":[152],"efficient":[153],"grasping,":[154],"also":[157],"object":[158],"release":[159,173],"desired":[163],"posture.":[164],"In":[165],"capabilities":[174],"are":[175],"explained":[176],"from":[177],"kinematic":[178],"perspective":[179],"analysis":[182],"carried":[183],"through":[184],"synthesize":[186],"for":[189],"user":[190],"specific":[191],"applications.":[192]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
