{"id":"https://openalex.org/W7131087624","doi":"https://doi.org/10.1109/robio66223.2025.11375947","title":"ARROW Hand: A Novel Robot Hand with Rigid-Flexible Fusion for Scoop Pinching Hybrid Grasp in Plane Contact Adaptation","display_name":"ARROW Hand: A Novel Robot Hand with Rigid-Flexible Fusion for Scoop Pinching Hybrid Grasp in Plane Contact Adaptation","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131087624","doi":"https://doi.org/10.1109/robio66223.2025.11375947"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11375947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11375947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5126604415","display_name":"Wenjie Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenjie Ma","raw_affiliation_strings":["X-Institute,Laboratory of Robotics,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"X-Institute,Laboratory of Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126596741","display_name":"Yuxuan Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Bai","raw_affiliation_strings":["X-Institute,Laboratory of Robotics,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"X-Institute,Laboratory of Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126622076","display_name":"Wenzeng Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["X-Institute,Laboratory of Robotics,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"X-Institute,Laboratory of Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5126604415"],"corresponding_institution_ids":["https://openalex.org/I4210104064"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.73229804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2400","last_page":"2405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7264000177383423,"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":0.7264000177383423,"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":0.1306000053882599,"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/T10982","display_name":"Motor Control and Adaptation","score":0.022099999710917473,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.8639000058174133},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7835000157356262},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7519999742507935},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7195000052452087},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5690000057220459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5658000111579895},{"id":"https://openalex.org/keywords/reversing","display_name":"Reversing","score":0.5020999908447266},{"id":"https://openalex.org/keywords/connecting-rod","display_name":"Connecting rod","score":0.43140000104904175},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.428600013256073},{"id":"https://openalex.org/keywords/groove","display_name":"Groove (engineering)","score":0.3797999918460846}],"concepts":[{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.8639000058174133},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7835000157356262},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7519999742507935},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7195000052452087},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5690000057220459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5658000111579895},{"id":"https://openalex.org/C2781085045","wikidata":"https://www.wikidata.org/wiki/Q7318308","display_name":"Reversing","level":2,"score":0.5020999908447266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4499000012874603},{"id":"https://openalex.org/C189441244","wikidata":"https://www.wikidata.org/wiki/Q221539","display_name":"Connecting rod","level":2,"score":0.43140000104904175},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.428600013256073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4154999852180481},{"id":"https://openalex.org/C2779472054","wikidata":"https://www.wikidata.org/wiki/Q2377973","display_name":"Groove (engineering)","level":2,"score":0.3797999918460846},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.3407000005245209},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.3398999869823456},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3346000015735626},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32339999079704285},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.305400013923645},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C2780339515","wikidata":"https://www.wikidata.org/wiki/Q3074698","display_name":"Arrow","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2897000014781952},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.28940001130104065},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28600001335144043},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2847000062465668},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.27459999918937683},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.26969999074935913},{"id":"https://openalex.org/C2779427698","wikidata":"https://www.wikidata.org/wiki/Q17146793","display_name":"SCOOP","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11375947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11375947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,63,70,85,95,98,108,145,159],"limitations":[3],"of":[4,46,69,100],"traditional":[5],"underactuated":[6,32],"grippers":[7],"in":[8,15],"handling":[9],"thin,":[10],"light,":[11],"and":[12,24,50,60,72,78,91,103,121,131,141,149],"flat":[13],"objects":[14],"complex":[16],"environments,":[17],"while":[18,84],"balancing":[19],"grasping":[20,160],"adaptability,":[21],"load-carrying":[22],"capacity,":[23],"cost,":[25],"this":[26],"study":[27],"proposes":[28],"a":[29,42,47,51],"rigid-flexible":[30],"fused":[31],"robotic":[33],"hand":[34],"design":[35,40],"named":[36],"ARROW":[37],"Hand.":[38],"This":[39],"integrates":[41],"rigid":[43,64],"structure":[44,65,146],"consisting":[45],"slotted":[48],"link":[49],"double":[52],"parallelogram":[53],"with":[54],"flexible":[55,86,122],"components":[56],"such":[57,88],"as":[58,89,136,138],"belts":[59,90],"elastic":[61,92],"bands:":[62],"enables":[66],"vertical":[67],"adjustment":[68],"fingertips":[71],"passive":[73],"switching":[74],"between":[75],"parallel":[76,115],"pinching":[77],"scooping":[79],"states":[80],"through":[81,164],"its":[82],"design,":[83],"material":[87],"bands":[93],"enhances":[94],"adaptability":[96],"to":[97],"shape":[99],"objects.":[101,143],"Experimental":[102],"analytical":[104],"results":[105],"show":[106],"that":[107],"gripper":[109],"can":[110,125,150],"achieve":[111],"multi-mode":[112],"grasping,":[113],"including":[114],"pinching,":[116],"symmetric":[117],"scooping,":[118,120],"asymmetric":[119],"enveloping.":[123],"It":[124],"stably":[126],"handle":[127],"conventional":[128],"objects,":[129,133,135],"light":[130],"thin":[132],"larger":[134],"well":[137],"very":[139],"large":[140],"heavy":[142],"Additionally,":[144],"is":[147,162],"simple":[148],"be":[151],"manufactured":[152],"via":[153],"3D":[154],"printing,":[155],"reducing":[156],"costs.":[157],"Meanwhile,":[158],"stability":[161],"verified":[163],"force":[165],"analysis.":[166]},"counts_by_year":[],"updated_date":"2026-02-25T06:17:34.324206","created_date":"2026-02-24T00:00:00"}