{"id":"https://openalex.org/W7131119456","doi":"https://doi.org/10.1109/robio66223.2025.11377497","title":"Hybrid Robotic Hand for Fabric Manipulation with a Single-Finger","display_name":"Hybrid Robotic Hand for Fabric Manipulation with a Single-Finger","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131119456","doi":"https://doi.org/10.1109/robio66223.2025.11377497"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377497","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":"conference-paper","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/A5050003367","display_name":"Xinhao CHEN","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xinhao Chen","raw_affiliation_strings":["Tohoku University,Department of Robotics,Sendai,Miyagi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Robotics,Sendai,Miyagi,Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126596772","display_name":"Alberto El\u00edas Petrilli Barcel\u00f3","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alberto El\u00edas Petrilli Barcel\u00f3","raw_affiliation_strings":["Tohoku University,Department of Robotics,Sendai,Miyagi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Robotics,Sendai,Miyagi,Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126608845","display_name":"Dayuan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dayuan Chen","raw_affiliation_strings":["Tohoku University,Department of Robotics,Sendai,Miyagi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Robotics,Sendai,Miyagi,Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053887460","display_name":"Jos\u00e9 Victorio Salazar Luces","orcid":"https://orcid.org/0000-0003-0556-9194"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jose Victorio Salazar Luces","raw_affiliation_strings":["Tohoku University,Department of Robotics,Sendai,Miyagi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Robotics,Sendai,Miyagi,Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126616351","display_name":"Yasuhisa Hirata","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hirata","raw_affiliation_strings":["Tohoku University,Department of Robotics,Sendai,Miyagi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Department of Robotics,Sendai,Miyagi,Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":3.3874,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.94519145,"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":"1465","last_page":"1472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8457000255584717,"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":0.8457000255584717,"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":0.07249999791383743,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.006399999838322401,"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/grippers","display_name":"Grippers","score":0.9082000255584717},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7092000246047974},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6636000275611877},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6276000142097473},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.609499990940094},{"id":"https://openalex.org/keywords/economic-shortage","display_name":"Economic shortage","score":0.5873000025749207},{"id":"https://openalex.org/keywords/production","display_name":"Production (economics)","score":0.4246000051498413},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38370001316070557}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9082000255584717},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7092000246047974},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6636000275611877},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6276000142097473},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.609499990940094},{"id":"https://openalex.org/C194051981","wikidata":"https://www.wikidata.org/wiki/Q1337691","display_name":"Economic shortage","level":3,"score":0.5873000025749207},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5174000263214111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5012999773025513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4602000117301941},{"id":"https://openalex.org/C2778348673","wikidata":"https://www.wikidata.org/wiki/Q739302","display_name":"Production (economics)","level":2,"score":0.4246000051498413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4099999964237213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38370001316070557},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3580999970436096},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.32600000500679016},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32499998807907104},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29120001196861267},{"id":"https://openalex.org/C2777869240","wikidata":"https://www.wikidata.org/wiki/Q1424398","display_name":"Flexible manufacturing system","level":3,"score":0.2815000116825104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2671000063419342},{"id":"https://openalex.org/C117671659","wikidata":"https://www.wikidata.org/wiki/Q11049265","display_name":"Manufacturing engineering","level":1,"score":0.2671000063419342},{"id":"https://openalex.org/C99862985","wikidata":"https://www.wikidata.org/wiki/Q10858068","display_name":"Production line","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C2780615885","wikidata":"https://www.wikidata.org/wiki/Q4692546","display_name":"Agile manufacturing","level":3,"score":0.2612999975681305},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377497","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":13,"referenced_works":["https://openalex.org/W1973576962","https://openalex.org/W2025259112","https://openalex.org/W2075807138","https://openalex.org/W2084285523","https://openalex.org/W2089630413","https://openalex.org/W2530616813","https://openalex.org/W2942720879","https://openalex.org/W2979155032","https://openalex.org/W3037067198","https://openalex.org/W3048923089","https://openalex.org/W4390099921","https://openalex.org/W4406170494","https://openalex.org/W4413188677"],"related_works":[],"abstract_inverted_index":{"With":[0],"increasing":[1],"labor":[2],"shortages":[3],"and":[4,22,59,73,92,114,156,165],"growing":[5],"production":[6,31],"demands,":[7],"the":[8,17,29,40,57,146,163,168],"automation":[9],"of":[10,28,63,112,130,145,167],"garment":[11],"manufacturing":[12],"is":[13],"developing":[14],"rapidly.":[15],"Among":[16],"various":[18],"processes,":[19],"fabric":[20,34,43,137],"handling":[21],"manipulation":[23,44],"account":[24],"for":[25,136,149],"nearly":[26],"80%":[27],"total":[30],"time,":[32],"making":[33],"grasping":[35,90],"a":[36,82,109,131],"critical":[37],"step":[38],"in":[39,70],"workflow.":[41],"Traditional":[42],"typically":[45],"uses":[46],"low-degree-of-freedom":[47],"(low-DOF)":[48],"grippers":[49],"to":[50,56,96,152],"simplify":[51],"hardware":[52],"design.":[53,170],"However,":[54],"due":[55],"unique":[58],"highly":[60],"dynamic":[61],"characteristics":[62],"fabric,":[64],"such":[65,107],"methods":[66],"face":[67],"significant":[68],"challenges":[69],"algorithm":[71],"development":[72],"task":[74,99],"adaptability.":[75],"To":[76],"address":[77],"these":[78],"issues,":[79],"we":[80,125],"propose":[81],"novel":[83],"robotic":[84,132],"hand":[85,133],"design":[86,102],"that":[87],"integrates":[88],"multiple":[89],"types":[91],"principles,":[93],"enabling":[94],"it":[95],"meet":[97],"diverse":[98],"requirements.":[100],"The":[101],"also":[103],"incorporates":[104],"industrial":[105],"features":[106],"as":[108],"reduced":[110],"number":[111],"actuators":[113],"simplified":[115],"mechanical":[116],"structure,":[117],"facilitating":[118],"practical":[119],"deployment.":[120],"Based":[121],"on":[122],"this":[123],"concept,":[124],"have":[126],"developed":[127],"two":[128],"versions":[129],"specifically":[134],"designed":[135],"grasping.":[138],"This":[139],"paper":[140],"presents":[141],"an":[142],"improved":[143],"version":[144],"design,":[147],"optimized":[148],"better":[150],"adaptability":[151],"different":[153],"operation":[154],"scenarios":[155],"enhanced":[157],"actuation":[158],"efficiency.":[159],"Experimental":[160],"results":[161],"validate":[162],"effectiveness":[164],"practicality":[166],"proposed":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-24T00:00:00"}