{"id":"https://openalex.org/W2857521408","doi":"https://doi.org/10.1109/robosoft.2018.8404948","title":"Multi-fingered robotic hand based on hybrid mechanism of tendon-driven and jamming transition","display_name":"Multi-fingered robotic hand based on hybrid mechanism of tendon-driven and jamming transition","publication_year":2018,"publication_date":"2018-04-01","ids":{"openalex":"https://openalex.org/W2857521408","doi":"https://doi.org/10.1109/robosoft.2018.8404948","mag":"2857521408"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2018.8404948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2018.8404948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","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/A5023142212","display_name":"Kaori Mizushima","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaori Mizushima","raw_affiliation_strings":["Graduated school of Natural science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduated school of Natural science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061061250","display_name":"Takumi Oku","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139652","display_name":"YKK (Japan)","ror":"https://ror.org/04ftb9f20","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210139652"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Oku","raw_affiliation_strings":["YKK corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"YKK corporation","institution_ids":["https://openalex.org/I4210139652"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["The Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuji","raw_affiliation_strings":["The Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061532363","display_name":"Tetsuyou Watanabe","orcid":"https://orcid.org/0000-0003-2549-1435"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuyou Watanabe","raw_affiliation_strings":["The Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Mechanical Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"376","last_page":"381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9907000064849854,"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/jamming","display_name":"Jamming","score":0.8854242563247681},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8283929824829102},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5274479389190674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5185983180999756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4876061975955963},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4871222972869873},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41714000701904297},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.41282325983047485},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32561060786247253},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14221850037574768}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8854242563247681},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8283929824829102},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5274479389190674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5185983180999756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4876061975955963},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4871222972869873},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41714000701904297},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.41282325983047485},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32561060786247253},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14221850037574768},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft.2018.8404948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2018.8404948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3043195900","display_name":"Development of Grasping Technique with Small Force by Controlling Sweat and Fingerprints","funder_award_id":"18K18831","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1996630649","https://openalex.org/W2007924815","https://openalex.org/W2008796702","https://openalex.org/W2029744358","https://openalex.org/W2038426988","https://openalex.org/W2048058874","https://openalex.org/W2063822181","https://openalex.org/W2065131253","https://openalex.org/W2120529242","https://openalex.org/W2130850127","https://openalex.org/W2155337985","https://openalex.org/W2164575107","https://openalex.org/W2296682917","https://openalex.org/W2492233418","https://openalex.org/W2544013339","https://openalex.org/W2561931395","https://openalex.org/W2599624416","https://openalex.org/W2751915788"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W2129483190"],"abstract_inverted_index":{"This":[0,41],"study":[1],"presents":[2],"a":[3,10,27,37,65,121,131,142,147],"novel":[4],"four-fingered":[5],"robotic":[6],"hand":[7],"to":[8,33,54,125,153],"attain":[9],"soft":[11,44],"contact":[12,45],"and":[13,36,63,86,97,104],"high":[14,52,107,143,151],"stability":[15,109],"under":[16,110],"disturbances":[17,111],"while":[18],"holding":[19],"an":[20,47,127],"object.":[21,74],"Each":[22],"finger":[23,34],"is":[24,61,89],"constructed":[25],"using":[26],"tendon-driven":[28],"skeleton,":[29],"granular":[30,80],"materials":[31,81],"corresponding":[32],"pulp,":[35],"deformable":[38,62],"rubber":[39,84],"skin.":[40],"structure":[42,140],"provides":[43,141],"with":[46,146,150],"object,":[48],"as":[49,51,120],"well":[50],"adaptation":[53],"its":[55],"shape.":[56,156],"Even":[57],"if":[58],"the":[59,73,76,79,83,91,98,116,138,154],"object":[60,99,128],"fragile,":[64],"grasping":[66,92,108,144],"posture":[67,93],"can":[68,94,100,112,118],"be":[69,95,101,113],"formed":[70],"without":[71],"deforming":[72],"If":[75],"air":[77],"around":[78],"in":[82],"skin":[85],"jamming":[87,123,148],"transition":[88,149],"vacuumed,":[90],"fixed":[96],"grasped":[102],"firmly":[103],"stably.":[105],"A":[106],"attained.":[114],"Additionally,":[115],"fingertips":[117],"work":[119],"small":[122],"gripper":[124],"grasp":[126],"smaller":[129],"than":[130],"fingertip.":[132],"An":[133],"experimental":[134],"investigation":[135],"indicated":[136],"that":[137],"proposed":[139],"force":[145],"adaptability":[152],"object's":[155]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}