{"id":"https://openalex.org/W4390099814","doi":"https://doi.org/10.1109/robio58561.2023.10354699","title":"Geometric design of a kirigami gripper with form-enclosing grasping mode","display_name":"Geometric design of a kirigami gripper with form-enclosing grasping mode","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099814","doi":"https://doi.org/10.1109/robio58561.2023.10354699"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354699","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5102596102","display_name":"Bingyan Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingyan Hu","raw_affiliation_strings":["Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","Shanghai Robotics Institute, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Shanghai Robotics Institute, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075620600","display_name":"Liang Du","orcid":"https://orcid.org/0000-0003-1297-3865"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Du","raw_affiliation_strings":["Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","Shanghai Robotics Institute, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Shanghai Robotics Institute, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100692038","display_name":"Mingyuan Wang","orcid":"https://orcid.org/0000-0002-5931-6048"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyuan Wang","raw_affiliation_strings":["Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","Shanghai Robotics Institute, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Shanghai Robotics Institute, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112631568","display_name":"Sheng Bao","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Bao","raw_affiliation_strings":["Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","Shanghai Robotics Institute, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Shanghai Robotics Institute, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024915129","display_name":"Jianjun Yuan","orcid":"https://orcid.org/0000-0003-1400-8866"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Yuan","raw_affiliation_strings":["Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","Shanghai Robotics Institute, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,School of Mechatronic Engineering and Automation,Shanghai,China,200444","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"Shanghai Robotics Institute, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Ritsumeikan University,Department of Robotics,Shiga,Japan","Department of Robotics, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Department of Robotics,Shiga,Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102596102"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17697033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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":0.9955000281333923,"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/grasp","display_name":"GRASP","score":0.7829383015632629},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6382594704627991},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5783909559249878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5622847080230713},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5399608016014099},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5310713648796082},{"id":"https://openalex.org/keywords/geometric-shape","display_name":"Geometric shape","score":0.49805164337158203},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.45788824558258057},{"id":"https://openalex.org/keywords/shape-optimization","display_name":"Shape optimization","score":0.4389669895172119},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.4232638478279114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3680252432823181},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.28419309854507446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25993314385414124},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2459794580936432},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2172144055366516},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19084104895591736},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09999886155128479}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7829383015632629},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6382594704627991},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5783909559249878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5622847080230713},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5399608016014099},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5310713648796082},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.49805164337158203},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.45788824558258057},{"id":"https://openalex.org/C29513896","wikidata":"https://www.wikidata.org/wiki/Q7489239","display_name":"Shape optimization","level":3,"score":0.4389669895172119},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4232638478279114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3680252432823181},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.28419309854507446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25993314385414124},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2459794580936432},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2172144055366516},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19084104895591736},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09999886155128479},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354699","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1974032213","https://openalex.org/W2784648116","https://openalex.org/W3004333455","https://openalex.org/W3043903771","https://openalex.org/W3163443358","https://openalex.org/W4210330146","https://openalex.org/W4312423505"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2262123047","https://openalex.org/W2891384689","https://openalex.org/W1834774708","https://openalex.org/W4233955003"],"abstract_inverted_index":{"Although":[0],"various":[1],"grasp":[2],"strategies":[3],"have":[4],"been":[5],"proposed":[6,126],"in":[7],"soft":[8,28],"gripper":[9,38,117,151],"area,":[10],"form-enclosing":[11,54,88,119],"grasping":[12,55,89,120],"mode":[13],"always":[14],"plays":[15],"a":[16,35,40,52,60,76],"marginal":[17],"role":[18],"because":[19],"of":[20,27,105,116,124],"the":[21,25,46,65,70,81,87,97,103,114,125,150],"challenges":[22],"to":[23,44,63,79,147],"calculate":[24],"deformations":[26],"materials.":[29],"In":[30],"this":[31],"study,":[32],"we":[33],"propose":[34],"easy-to-make":[36],"kirigami":[37],"and":[39,68,73,101,109,133,141],"geometric":[41,143],"optimization":[42,92],"method":[43,78,93,127],"obtain":[45],"fingers":[47],"boundary":[48,115],"shape":[49,67,84],"that":[50,85],"achieves":[51],"complete":[53],"after":[56],"bending.":[57],"We":[58],"used":[59,75],"FEM":[61],"model":[62],"represent":[64],"finger":[66,71,83],"calculated":[69],"boundary,":[72],"then":[74],"iterative":[77],"find":[80],"best":[82],"generates":[86],"result.":[90],"The":[91,122],"is":[94],"based":[95],"on":[96],"minimum":[98],"energy":[99],"rule,":[100],"has":[102],"advantages":[104],"being":[106,110],"computationally":[107],"efficient":[108],"universal":[111],"for":[112],"optimizing":[113],"with":[118],"mode.":[121],"effectiveness":[123],"was":[128],"validated":[129],"by":[130],"ANSYS":[131],"simulation":[132],"practical":[134],"experimental":[135],"results.":[136],"Moreover,":[137],"an":[138],"objective":[139],"functions":[140],"multiple":[142],"constraints":[144],"were":[145],"derived":[146],"quantitatively":[148],"evaluate":[149],"designs.":[152]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
