{"id":"https://openalex.org/W2937857175","doi":"https://doi.org/10.1109/robosoft.2019.8722715","title":"Characterising 3D-printed Soft Fin Ray Robotic Fingers with Layer Jamming Capability for Delicate Grasping","display_name":"Characterising 3D-printed Soft Fin Ray Robotic Fingers with Layer Jamming Capability for Delicate Grasping","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2937857175","doi":"https://doi.org/10.1109/robosoft.2019.8722715","mag":"2937857175"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722715","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","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":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Characterising_3D-printed_Soft_Fin_Ray_Robotic_Fingers_with_Layer_Jamming_Capability_for_Delicate_Grasping/25175234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061229826","display_name":"Khaled Elgeneidy","orcid":"https://orcid.org/0000-0002-4577-6297"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Khaled Elgeneidy","raw_affiliation_strings":["Lincoln Centre for Autonomous System, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous System, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076772027","display_name":"Peter Lightbody","orcid":null},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter Lightbody","raw_affiliation_strings":["Lincoln Institute for Agri-Food Technology, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Institute for Agri-Food Technology, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018447003","display_name":"Simon Pearson","orcid":"https://orcid.org/0000-0002-4297-4837"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Pearson","raw_affiliation_strings":["Lincoln Centre for Autonomous System, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous System, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Lincoln Institute for Agri-Food Technology, University of Lincoln, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lincoln Institute for Agri-Food Technology, University of Lincoln, UK","institution_ids":["https://openalex.org/I51532219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I51532219"],"apc_list":null,"apc_paid":null,"fwci":12.2186,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.99342684,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"143","last_page":"148"},"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":0.9997000098228455,"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":0.9987000226974487,"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":0.7668963670730591},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.6740613579750061},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.6700329184532166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5702369213104248},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.5498117804527283},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.520578920841217},{"id":"https://openalex.org/keywords/rib-cage","display_name":"Rib cage","score":0.5089600086212158},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4895254373550415},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4263342022895813},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3731144070625305},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3608604669570923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35821425914764404},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.33104076981544495},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2871566116809845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2539166808128357},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.24260058999061584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24218183755874634},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23833632469177246},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.17567530274391174},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17040038108825684},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.06756451725959778}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.7668963670730591},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.6740613579750061},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.6700329184532166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5702369213104248},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.5498117804527283},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.520578920841217},{"id":"https://openalex.org/C160306043","wikidata":"https://www.wikidata.org/wiki/Q2576226","display_name":"Rib cage","level":2,"score":0.5089600086212158},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4895254373550415},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4263342022895813},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3731144070625305},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3608604669570923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35821425914764404},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.33104076981544495},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2871566116809845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2539166808128357},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.24260058999061584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24218183755874634},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23833632469177246},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.17567530274391174},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17040038108825684},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.06756451725959778},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft.2019.8722715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722715","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","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":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:34950","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:figshare.com:article/25175234","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Characterising_3D-printed_Soft_Fin_Ray_Robotic_Fingers_with_Layer_Jamming_Capability_for_Delicate_Grasping/25175234","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/25175234","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Characterising_3D-printed_Soft_Fin_Ray_Robotic_Fingers_with_Layer_Jamming_Capability_for_Delicate_Grasping/25175234","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W1975139542","https://openalex.org/W1983463109","https://openalex.org/W2007443511","https://openalex.org/W2029744358","https://openalex.org/W2047646215","https://openalex.org/W2080551943","https://openalex.org/W2112009694","https://openalex.org/W2120790520","https://openalex.org/W2270279486","https://openalex.org/W2472944192","https://openalex.org/W2519437300","https://openalex.org/W2551680314","https://openalex.org/W2565037204","https://openalex.org/W2589847876","https://openalex.org/W2593868148","https://openalex.org/W2623551786","https://openalex.org/W2738266212","https://openalex.org/W2804581793","https://openalex.org/W2805700843","https://openalex.org/W2808403302","https://openalex.org/W3191770880"],"related_works":["https://openalex.org/W1571518467","https://openalex.org/W87991986","https://openalex.org/W2020291234","https://openalex.org/W2094520212","https://openalex.org/W2001850503","https://openalex.org/W1576801573","https://openalex.org/W3032521933","https://openalex.org/W2519437300","https://openalex.org/W2937857175","https://openalex.org/W2938159670"],"abstract_inverted_index":{"Motivated":[0],"by":[1],"the":[2,6,11,23,60,71,74,79,101],"growing":[3],"need":[4],"within":[5],"agri-food":[7],"industry":[8],"to":[9,26,31,53,59],"automate":[10],"handling":[12],"of":[13,73,78],"delicate":[14,32,116],"produce,":[15],"this":[16],"paper":[17],"presents":[18],"soft":[19],"robotic":[20],"fingers":[21,39],"utilising":[22],"Fin":[24,37,62],"Ray\u00aeeffect":[25],"passively":[27],"and":[28,43,76],"gently":[29],"adapt":[30],"targets.":[33],"The":[34,85],"proposed":[35],"Soft":[36],"Ray":[38,63],"feature":[40],"thin":[41],"ribs":[42,81,97],"are":[44],"entirely":[45],"3D":[46],"printed":[47],"from":[48],"a":[49],"flexible":[50,80,96],"material":[51],"(NinjaFlex)":[52],"enhance":[54,100],"their":[55,67],"shape":[56],"adaptation,":[57],"compared":[58],"original":[61],"fingers.":[64],"To":[65],"overcome":[66],"reduced":[68],"force":[69,102],"generation,":[70,103],"effects":[72],"angle":[75],"spacing":[77],"were":[82],"experimentally":[83],"characterised.":[84],"results":[86],"showed":[87],"that":[88],"at":[89,112],"large":[90],"displacements,":[91],"layer":[92],"jamming":[93],"between":[94],"tilted":[95],"can":[98,108],"significantly":[99],"while":[104],"minimal":[105],"contact":[106],"forces":[107],"be":[109],"still":[110],"maintained":[111],"small":[113],"displacements":[114],"for":[115],"grasping.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}