{"id":"https://openalex.org/W4317382635","doi":"https://doi.org/10.1109/robio55434.2022.10011866","title":"An Untethered Soft Robotic Gripper with Adjustable Grasping Modes and Force Feedback","display_name":"An Untethered Soft Robotic Gripper with Adjustable Grasping Modes and Force Feedback","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317382635","doi":"https://doi.org/10.1109/robio55434.2022.10011866"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011866","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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/A5040102350","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-6216-7437"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology,Nanjing,Jiangsu,China,210044","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology,Nanjing,Jiangsu,China,210044","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080575627","display_name":"Honghui Zhu","orcid":"https://orcid.org/0000-0003-3326-8225"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honghui Zhu","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology,Nanjing,Jiangsu,China,210044","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology,Nanjing,Jiangsu,China,210044","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409669","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0001-9756-1928"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology,Nanjing,Jiangsu,China,210044","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology,Nanjing,Jiangsu,China,210044","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041459902","display_name":"Yingtian Li","orcid":"https://orcid.org/0000-0001-7357-6535"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingtian Li","raw_affiliation_strings":["Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Hong Kong Center for Logistics Robotics, Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics, Hong Kong","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101638238","display_name":"Tao Ren","orcid":"https://orcid.org/0000-0002-0121-1526"},"institutions":[{"id":"https://openalex.org/I31595395","display_name":"Chengdu University of Technology","ror":"https://ror.org/05pejbw21","country_code":"CN","type":"education","lineage":["https://openalex.org/I31595395"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Ren","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Chengdu University of Technology,Chengdu,China,610059"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Chengdu University of Technology,Chengdu,China,610059","institution_ids":["https://openalex.org/I31595395"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010608135","display_name":"Yi Ren","orcid":"https://orcid.org/0000-0002-0541-3985"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Ren","raw_affiliation_strings":["Advanced Manufacturing Lab, Huawei Technologies,Shenzhen,China","Advanced Manufacturing Lab, Huawei Technologies, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Manufacturing Lab, Huawei Technologies,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Advanced Manufacturing Lab, Huawei Technologies, Shenzhen, China","institution_ids":["https://openalex.org/I2250955327"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5553,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91960402,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":0.9990000128746033,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944999814033508,"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/grippers","display_name":"Grippers","score":0.7503073215484619},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5501325130462646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5363458395004272},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.518101155757904},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5036515593528748},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4689229130744934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4582085609436035},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4478491544723511},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4411620497703552},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4291011095046997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3790878653526306},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32789987325668335},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.28527528047561646}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7503073215484619},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5501325130462646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5363458395004272},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.518101155757904},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5036515593528748},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4689229130744934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4582085609436035},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4478491544723511},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4411620497703552},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4291011095046997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3790878653526306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32789987325668335},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.28527528047561646},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/robio55434.2022.10011866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011866","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3041746529","display_name":null,"funder_award_id":"52005269","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1826399803","https://openalex.org/W1868607027","https://openalex.org/W2007924815","https://openalex.org/W2273215869","https://openalex.org/W2518073382","https://openalex.org/W2551680314","https://openalex.org/W2626557286","https://openalex.org/W2771793291","https://openalex.org/W2774617863","https://openalex.org/W2790084889","https://openalex.org/W2790586936","https://openalex.org/W2901850371","https://openalex.org/W2912184901","https://openalex.org/W2917530233","https://openalex.org/W2973761438","https://openalex.org/W2976171218","https://openalex.org/W2979267887","https://openalex.org/W2997390665","https://openalex.org/W3016727646","https://openalex.org/W3038216440","https://openalex.org/W3089576718","https://openalex.org/W3095351385","https://openalex.org/W3096036273","https://openalex.org/W3138732012","https://openalex.org/W3172154564","https://openalex.org/W3200203756","https://openalex.org/W3206005998","https://openalex.org/W3208905283","https://openalex.org/W4211124276","https://openalex.org/W4281642712"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W3206105843","https://openalex.org/W4376605699","https://openalex.org/W314078363","https://openalex.org/W4386823453","https://openalex.org/W3119366040","https://openalex.org/W4385356446","https://openalex.org/W4307256295"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,114,138],"three-finger":[6],"soft":[7,102,129],"robotic":[8,103,116,130],"gripper,":[9],"which":[10,37,72],"adopts":[11],"an":[12],"untethered":[13],"and":[14,20,45,84,105,124],"under-actuated":[15],"design":[16],"with":[17,41,54],"simple":[18],"structure":[19],"easy":[21],"operation.":[22],"The":[23,94,128],"rotation":[24],"of":[25,34,49,65,100,113,140],"two":[26],"servomotors":[27],"is":[28,60,73,108,132],"used":[29,74,136],"to":[30,52,68,75,88,118,134],"control":[31],"the":[32,35,39,47,50,63,66,77,82,86,90,98,101,106,111],"positions":[33],"fingers,":[36],"provides":[38],"fingers":[40],"adjustable":[42,121],"grasping":[43,81,92,122],"modes":[44],"improves":[46],"adaptation":[48],"gripper":[51,87,107,131],"objects":[53],"different":[55],"shapes.":[56],"A":[57],"pressure":[58],"sensor":[59],"integrated":[61,109],"at":[62,110],"end":[64,112],"finger":[67],"provide":[69,89],"force":[70,79,125],"feedback,":[71],"detect":[76],"contact":[78],"when":[80],"object":[83],"enables":[85],"proper":[91],"force.":[93],"experimental":[95],"section":[96],"characterizes":[97],"bending":[99],"finger,":[104],"collaborative":[115],"arm":[117],"demonstrate":[119],"its":[120],"posture":[123],"feedback":[126],"function.":[127],"expected":[133],"be":[135],"in":[137],"variety":[139],"scenarios,":[141],"such":[142],"as":[143],"service":[144],"robot,":[145],"food":[146],"industry":[147],"or":[148],"garbage":[149],"sorting.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
