{"id":"https://openalex.org/W4226164152","doi":"https://doi.org/10.1109/robio54168.2021.9739398","title":"Design of a Gripper for Cable Assembly with Integrated In-hand Cable Manipulation Functions","display_name":"Design of a Gripper for Cable Assembly with Integrated In-hand Cable Manipulation Functions","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226164152","doi":"https://doi.org/10.1109/robio54168.2021.9739398"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739398","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5002339873","display_name":"Yanling Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanling Zhou","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102911342","display_name":"Xin Jiang","orcid":"https://orcid.org/0000-0002-7019-0466"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Jiang","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101686654","display_name":"Dayuan Chen","orcid":"https://orcid.org/0000-0001-9644-7584"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dayuan Chen","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103040826","display_name":"Yuhao Guo","orcid":"https://orcid.org/0000-0002-2488-1311"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhao Guo","raw_affiliation_strings":["Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Shenzhen, HIT Campus Shenzhen University Town,Department of Mechanical Engineering and Automation,Xili, Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I204983213","https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002339873"],"corresponding_institution_ids":["https://openalex.org/I180726961","https://openalex.org/I204983213","https://openalex.org/I3131625388"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.32199441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1929","last_page":"1934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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":0.9990000128746033,"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/cable-harness","display_name":"Cable harness","score":0.9446334838867188},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7642297744750977},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.7327289581298828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6476358771324158},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6272352933883667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5599277019500732},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.49991440773010254},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.464793860912323},{"id":"https://openalex.org/keywords/cable-theory","display_name":"Cable theory","score":0.443752259016037},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4358816146850586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3438263237476349},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24760115146636963},{"id":"https://openalex.org/keywords/cable-gland","display_name":"Cable gland","score":0.15991738438606262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14631304144859314},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10204413533210754}],"concepts":[{"id":"https://openalex.org/C180761244","wikidata":"https://www.wikidata.org/wiki/Q354262","display_name":"Cable harness","level":3,"score":0.9446334838867188},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7642297744750977},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.7327289581298828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6476358771324158},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6272352933883667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5599277019500732},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.49991440773010254},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.464793860912323},{"id":"https://openalex.org/C59399137","wikidata":"https://www.wikidata.org/wiki/Q1327423","display_name":"Cable theory","level":4,"score":0.443752259016037},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4358816146850586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3438263237476349},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24760115146636963},{"id":"https://openalex.org/C110925319","wikidata":"https://www.wikidata.org/wiki/Q12855","display_name":"Cable gland","level":2,"score":0.15991738438606262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14631304144859314},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10204413533210754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739398","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W102778925","https://openalex.org/W2002235877","https://openalex.org/W2003662533","https://openalex.org/W2110278857","https://openalex.org/W2116645259","https://openalex.org/W2138589126","https://openalex.org/W2775635818","https://openalex.org/W3001696124","https://openalex.org/W3004333455","https://openalex.org/W3008303301","https://openalex.org/W3038415847","https://openalex.org/W3090599104","https://openalex.org/W3090849140","https://openalex.org/W3100818121","https://openalex.org/W3207296083","https://openalex.org/W6680720167","https://openalex.org/W6768455653"],"related_works":["https://openalex.org/W4366597393","https://openalex.org/W3045723897","https://openalex.org/W2034073473","https://openalex.org/W2320707241","https://openalex.org/W2465714433","https://openalex.org/W2527311170","https://openalex.org/W2958499711","https://openalex.org/W4226164152","https://openalex.org/W2344855948","https://openalex.org/W2362381343"],"abstract_inverted_index":{"Cable":[0],"manipulation":[1,125],"is":[2,21,41,98,101],"widely":[3],"used":[4],"in":[5,27,103,111,137,143],"industrial":[6],"production":[7],"(e.g.,":[8,65],"assembly":[9],"of":[10,15,33,63,77,118,126],"automotive":[11],"wiring":[12,14],"harnesses,":[13],"electrical":[16],"products":[17],"etc.).":[18],"Currently":[19],"it":[20,57],"realized":[22,84],"mainly":[23],"by":[24,85],"manual":[25],"work":[26],"industry,":[28],"which":[29],"requires":[30],"a":[31,42,45,52,55,116],"lot":[32],"labor":[34],"and":[35,37,74,134],"time,":[36],"lacks":[38],"flexibility.":[39],"It":[40,100],"challenge":[43],"for":[44,123],"robot":[46,53,88],"to":[47,59,71,92],"operate":[48],"cables,":[49],"because":[50],"when":[51],"grips":[54],"cable,":[56],"needs":[58],"perform":[60],"many":[61,104,139],"types":[62],"operations":[64],"twisting,":[66],"dragging,":[67],"sliding":[68],"etc.)":[69],"according":[70],"the":[72,78,87,93,96,108],"pose":[73],"topological":[75],"state":[76],"cable.":[79],"Traditionally":[80],"these":[81],"functions":[82,122],"are":[83],"moving":[86],"arm":[89],"with":[90,121],"respect":[91],"point":[94],"where":[95],"cable":[97,144],"gripped.":[99],"inefficient":[102],"situations.":[105],"To":[106],"solve":[107],"aforementioned":[109],"problems,":[110],"this":[112],"paper,":[113],"we":[114],"propose":[115],"design":[117],"gripper":[119],"integrated":[120],"in-hand":[124],"cables.":[127],"The":[128],"validation":[129],"experiments":[130],"demonstrated":[131],"its":[132],"effectiveness":[133],"potential":[135],"usage":[136],"solving":[138],"difficult":[140],"problems":[141],"involved":[142],"assembly.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}