{"id":"https://openalex.org/W4225531188","doi":"https://doi.org/10.1109/robio54168.2021.9739568","title":"Mechanical Design of a Supernumerary Robotic Finger for Grasping Abilities Compensation","display_name":"Mechanical Design of a Supernumerary Robotic Finger for Grasping Abilities Compensation","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4225531188","doi":"https://doi.org/10.1109/robio54168.2021.9739568"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739568","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/A5080825295","display_name":"Xuwei. Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuwei. Lin","raw_affiliation_strings":["Wuhan University,School of Power and Mechanical Engineering,Wuhan,China,430072"],"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Power and Mechanical Engineering,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110796217","display_name":"Xiaohui. Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210163738","display_name":"China Astronaut Research and Training Center","ror":"https://ror.org/001ycj259","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210163738"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohui. Xiao","raw_affiliation_strings":["Wuhan University,School of Power and Mechanical Engineering,Wuhan,China,430072","Wuhan University Shenzhen Research Institute, Shenzhen, China","National Key Laboratory of Human Factors Engineering, China Astronauts Research and Training Center, Beijing"],"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Power and Mechanical Engineering,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Wuhan University Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210105229","https://openalex.org/I37461747"]},{"raw_affiliation_string":"National Key Laboratory of Human Factors Engineering, China Astronauts Research and Training Center, Beijing","institution_ids":["https://openalex.org/I4210163738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061915609","display_name":"Zhao Guo","orcid":"https://orcid.org/0000-0002-4224-8595"},"institutions":[{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I4210163738","display_name":"China Astronaut Research and Training Center","ror":"https://ror.org/001ycj259","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210163738"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao. Guo","raw_affiliation_strings":["Wuhan University,School of Power and Mechanical Engineering,Wuhan,China,430072","National Key Laboratory of Human Factors Engineering, China Astronauts Research and Training Center, Beijing","Wuhan University Shenzhen Research Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Wuhan University,School of Power and Mechanical Engineering,Wuhan,China,430072","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"National Key Laboratory of Human Factors Engineering, China Astronauts Research and Training Center, Beijing","institution_ids":["https://openalex.org/I4210163738"]},{"raw_affiliation_string":"Wuhan University Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210105229","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080825295"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.7688,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68247053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1792","last_page":"1797"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9979000091552734,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.7639446258544922},{"id":"https://openalex.org/keywords/potentiometer","display_name":"Potentiometer","score":0.7263364791870117},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6343150734901428},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.609426736831665},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5733975768089294},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5512104630470276},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5266254544258118},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4797600209712982},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.4777737855911255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47473177313804626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3775409162044525},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3570902943611145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3527209162712097},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13020220398902893},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.09548383951187134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09502542018890381}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7639446258544922},{"id":"https://openalex.org/C27728234","wikidata":"https://www.wikidata.org/wiki/Q187868","display_name":"Potentiometer","level":3,"score":0.7263364791870117},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6343150734901428},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.609426736831665},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5733975768089294},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5512104630470276},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5266254544258118},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4797600209712982},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.4777737855911255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47473177313804626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3775409162044525},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3570902943611145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3527209162712097},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13020220398902893},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.09548383951187134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09502542018890381},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","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/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/robio54168.2021.9739568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739568","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/F4320316328","display_name":"National Key Laboratory of Human Factors Engineering","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1710647497","https://openalex.org/W2042326523","https://openalex.org/W2057655055","https://openalex.org/W2062852601","https://openalex.org/W2063939897","https://openalex.org/W2082723833","https://openalex.org/W2091383515","https://openalex.org/W2094821430","https://openalex.org/W2102046115","https://openalex.org/W2106747484","https://openalex.org/W2113328806","https://openalex.org/W2142891992","https://openalex.org/W2144781570","https://openalex.org/W2164870294","https://openalex.org/W2280802834","https://openalex.org/W2342449273","https://openalex.org/W2384869479","https://openalex.org/W2473855391","https://openalex.org/W2738469521","https://openalex.org/W3008933719","https://openalex.org/W6637406329"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W3164052694","https://openalex.org/W4312069742"],"abstract_inverted_index":{"This":[0,37],"paper":[1],"presents":[2],"the":[3,18,22,25,52,55,60,68,76,79,95,98,102,105,117,124,138,145,164,170],"mechanical":[4,70,113],"design,":[5],"kinematic":[6],"analysis":[7],"and":[8,21,42,57,89,131,142],"tests":[9],"of":[10,34,54,78,97,104,119,140,144],"a":[11,85,111,132],"supernumerary":[12],"robotic":[13],"finger":[14,100],"(SRF).":[15],"Divided":[16],"into":[17,101],"executive":[19,108],"part":[20,74,109],"control":[23,73],"part,":[24],"device":[26,154],"can":[27,48,166],"be":[28,49],"used":[29],"for":[30,169],"hand":[31,56],"function":[32,139,172],"compensation":[33],"stroke":[35],"patients.":[36],"SRF":[38,165],"is":[39,110],"wearable,":[40],"small":[41],"light,":[43],"easy":[44],"to":[45,63,155],"carry.":[46],"It":[47,83,115],"worn":[50],"on":[51,152],"back":[53],"coordinate":[58],"with":[59,176],"human":[61,99,177],"fingers":[62],"grasp":[64],"an":[65],"object":[66],"through":[67,126],"bionic":[69,112],"finger.":[71,82,114],"The":[72,107,160],"obtains":[75],"posture":[77],"user\u2019s":[80],"little":[81],"includes":[84],"planar":[86,128],"four-bar":[87,129],"mechanism":[88,130],"several":[90],"cylindrical":[91],"pairs,":[92],"which":[93,136],"convert":[94],"rotation":[96,103,118],"potentiometer.":[106],"realizes":[116],"two":[120],"joints":[121],"driven":[122],"by":[123],"motor":[125],"another":[127],"crossed":[133],"cable-drive":[134],"structure,":[135],"implements":[137],"flexion":[141],"extension":[143],"SRF.":[146],"An":[147],"experiment":[148],"has":[149],"been":[150],"conducted":[151],"this":[153],"evaluate":[156],"its":[157],"grasping":[158,171],"ability.":[159],"results":[161],"show":[162],"that":[163],"well":[167],"compensate":[168],"when":[173],"it":[174],"cooperates":[175],"fingers.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
