{"id":"https://openalex.org/W2793587356","doi":"https://doi.org/10.1109/robio.2017.8324446","title":"Adaptive gripper with soft sheets for a uniformly distributed grasping force","display_name":"Adaptive gripper with soft sheets for a uniformly distributed grasping force","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2793587356","doi":"https://doi.org/10.1109/robio.2017.8324446","mag":"2793587356"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5025917866","display_name":"Yoshiyuki Furata","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoshiyuki Furata","raw_affiliation_strings":["The Graduate School of Natural Science and Technology Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate School of Natural Science and Technology Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuji","raw_affiliation_strings":["Kanazawa Daigaku, Kanazawa, Ishikawa, JP"],"affiliations":[{"raw_affiliation_string":"Kanazawa Daigaku, Kanazawa, Ishikawa, JP","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061532363","display_name":"Tetsuyou Watanabe","orcid":"https://orcid.org/0000-0003-2549-1435"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuyou Watanabe","raw_affiliation_strings":["The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017829421","display_name":"Masatoshi Hikizu","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Hikizu","raw_affiliation_strings":["The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038665538","display_name":"Hiroaki Seki","orcid":"https://orcid.org/0000-0003-1588-4825"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Seki","raw_affiliation_strings":["The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"affiliations":[{"raw_affiliation_string":"The College of Science and Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5025917866"],"corresponding_institution_ids":["https://openalex.org/I10091056"],"apc_list":null,"apc_paid":null,"fwci":0.2036,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5801229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"373","last_page":"378"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.934952974319458},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7282004952430725},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7129899859428406},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7043780088424683},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6549197435379028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5280162692070007},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49373969435691833},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43139001727104187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3429586887359619},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34063661098480225},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3247302174568176},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2268863320350647},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10889053344726562}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.934952974319458},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7282004952430725},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7129899859428406},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7043780088424683},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6549197435379028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5280162692070007},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49373969435691833},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43139001727104187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3429586887359619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34063661098480225},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3247302174568176},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2268863320350647},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10889053344726562},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324446","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W12487042","https://openalex.org/W1537561328","https://openalex.org/W1589501040","https://openalex.org/W1969451263","https://openalex.org/W1978424264","https://openalex.org/W1990872936","https://openalex.org/W2009934861","https://openalex.org/W2038447902","https://openalex.org/W2144573888","https://openalex.org/W2155337985","https://openalex.org/W2162556257","https://openalex.org/W2211217408","https://openalex.org/W2239925200","https://openalex.org/W2273215869","https://openalex.org/W2431208273","https://openalex.org/W6632208530","https://openalex.org/W6688344122"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W930597035","https://openalex.org/W4287201739","https://openalex.org/W4312233243"],"abstract_inverted_index":{"This":[0,118],"study":[1],"presents":[2],"the":[3,50,63,70,76,91,94,100,103,108,112,120,128,131],"mechanism":[4],"of":[5,26,39,42,62,93,102,130],"an":[6],"adaptive":[7],"gripper":[8,17,71,121],"for":[9],"grasping":[10,51,77,85,109,113],"various":[11],"objects":[12,126,145,156],"including":[13,81],"deformable":[14,125],"objects.":[15],"The":[16,59,96,134],"has":[18],"soft":[19,64,132,148],"sheets":[20,149],"and":[21,36,84,111,152],"passive":[22],"joints.":[23],"Two":[24],"joints":[25],"each":[27],"finger":[28,104],"are":[29,45,87],"controlled":[30],"by":[31,146,157],"only":[32],"a":[33,37,54],"single":[34],"actuator,":[35],"total":[38],"four":[40],"degrees":[41],"freedom":[43],"(DOF)":[44],"included.":[46],"It":[47],"finely":[48],"controls":[49],"force":[52,114],"with":[53,127],"simple":[55],"position":[56],"control":[57],"method.":[58],"numerical":[60],"model":[61],"sheet":[65],"that":[66,99,138,160],"is":[67,72,115,140],"used":[68],"in":[69],"proposed":[73],"to":[74,89,122,142,153],"estimate":[75],"force.":[78],"Experimental":[79],"tests":[80,86],"stiffness":[82,101],"evaluation":[83],"performed":[88],"investigate":[90],"performance":[92],"gripper.":[95],"results":[97,135],"show":[98],"changes":[105],"based":[106],"on":[107],"area":[110],"widely":[116],"contributed.":[117],"allows":[119],"softly":[123],"grasp":[124,143,154],"center":[129],"sheet.":[133],"also":[136],"confirmed":[137],"it":[139],"possible":[141],"heavy":[144],"pushing":[147],"into":[150],"them":[151],"small":[155],"using":[158],"fingertips":[159],"possess":[161],"high":[162],"stiffness.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}