{"id":"https://openalex.org/W2947373449","doi":"https://doi.org/10.1109/robosoft.2019.8722746","title":"An Origami-Inspired Monolithic Soft Gripper Based on Geometric Design Method","display_name":"An Origami-Inspired Monolithic Soft Gripper Based on Geometric Design Method","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947373449","doi":"https://doi.org/10.1109/robosoft.2019.8722746","mag":"2947373449"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722746","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":"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/A5034988215","display_name":"Zicheng Kan","orcid":"https://orcid.org/0000-0001-9145-1568"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Zicheng Kan","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046899246","display_name":"Yazhan Zhang","orcid":"https://orcid.org/0000-0003-4847-8751"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yazhan Zhang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040102350","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-6216-7437"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082715921","display_name":"Yu Alexander Tse","orcid":"https://orcid.org/0000-0001-9879-3552"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yu Alexander Tse","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034988215"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":3.357,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.9363337,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"470","last_page":"476"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6016045212745667},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5619224905967712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435608625411987},{"id":"https://openalex.org/keywords/universality","display_name":"Universality (dynamical systems)","score":0.5433334708213806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5250617861747742},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47586697340011597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4530200958251953},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4503799378871918},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43832215666770935},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32729530334472656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.326144814491272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2906535863876343}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6016045212745667},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5619224905967712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435608625411987},{"id":"https://openalex.org/C183992945","wikidata":"https://www.wikidata.org/wiki/Q2495574","display_name":"Universality (dynamical systems)","level":2,"score":0.5433334708213806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5250617861747742},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47586697340011597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4530200958251953},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4503799378871918},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43832215666770935},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32729530334472656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.326144814491272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2906535863876343},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft.2019.8722746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722746","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:repository.hkust.edu.hk:1783.1-98205","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-98205","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-98205","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000492837400069","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W127502942","https://openalex.org/W1515749184","https://openalex.org/W1590489289","https://openalex.org/W1826399803","https://openalex.org/W1962898515","https://openalex.org/W1965769099","https://openalex.org/W1971137043","https://openalex.org/W1974793347","https://openalex.org/W1987667041","https://openalex.org/W2001898993","https://openalex.org/W2022024011","https://openalex.org/W2061076340","https://openalex.org/W2087825600","https://openalex.org/W2113076624","https://openalex.org/W2120605830","https://openalex.org/W2132634958","https://openalex.org/W2147492425","https://openalex.org/W2196668152","https://openalex.org/W2300790650","https://openalex.org/W2519437300","https://openalex.org/W2560730116","https://openalex.org/W2611668264","https://openalex.org/W2622959077","https://openalex.org/W2737138330","https://openalex.org/W2752818262","https://openalex.org/W2784648116","https://openalex.org/W2789995289","https://openalex.org/W2801704144","https://openalex.org/W2802922816","https://openalex.org/W2888008847","https://openalex.org/W2950025192","https://openalex.org/W4211124276","https://openalex.org/W6635163990","https://openalex.org/W6730439807"],"related_works":["https://openalex.org/W1976950967","https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W4312473168","https://openalex.org/W2908594317","https://openalex.org/W2326585759","https://openalex.org/W4211124276","https://openalex.org/W3206105843","https://openalex.org/W4312269480","https://openalex.org/W4376605699"],"abstract_inverted_index":{"Soft":[0],"end-effectors":[1],"have":[2,56],"great":[3],"potential":[4],"on":[5,65,151],"object":[6],"manipulation.":[7],"The":[8,133],"top-down":[9],"approach":[10],"using":[11,104],"origami":[12,46,72],"spring":[13],"structure":[14],"to":[15,80,128],"create":[16],"robots":[17],"is":[18,41,78,93],"increasingly":[19],"spreading,":[20],"with":[21,48,96,145],"capabilities":[22],"of":[23,45,85,91,115,123,149,168,176],"simplification":[24],"and":[25,30,88,119,142,174],"acceleration":[26],"for":[27],"the":[28,66,82,89,112,116,137,152,157,172,177],"design":[29,76],"fabrication":[31],"procedure":[32],"at":[33],"low":[34],"cost.":[35],"In":[36,52],"this":[37,53],"study,":[38],"a":[39,58,120,146,166],"synergy":[40],"achieved":[42],"through":[43],"combination":[44],"pattern":[47],"3D-printed":[49],"soft":[50,60,117],"robotics.":[51],"letter,":[54],"we":[55],"developed":[57],"monolithic":[59],"gripper":[61,118],"which":[62],"deforms":[63],"based":[64],"constrained":[67],"configuration":[68],"space":[69],"induced":[70],"by":[71],"structure.":[73],"A":[74],"geometric":[75,99],"method":[77],"proposed":[79],"model":[81],"hyperelastic":[83],"deformation":[84,103],"elastomer":[86],"material":[87],"trajectory":[90],"fingertips":[92],"iteratively":[94],"computed":[95],"residuals":[97],"in":[98,179],"objective":[100],"as":[101],"approximated":[102],"Newton's":[105],"minimization":[106],"method.":[107],"Two":[108],"characteristic":[109],"tests":[110],"quantifying":[111],"gripping":[113],"capability":[114],"grasping":[121],"demonstration":[122],"daily":[124,180],"objects":[125,170],"are":[126],"conducted":[127],"show":[129],"its":[130],"practical":[131],"performance.":[132],"experimental":[134],"results":[135],"indicate":[136],"linear":[138],"relationship":[139],"between":[140],"input":[141],"output":[143],"variables":[144],"scale":[147],"factor":[148],"3.79":[150],"displacement":[153],"amplification,":[154],"showing":[155],"that":[156],"required":[158],"control":[159],"scheme":[160],"could":[161],"be":[162],"simple.":[163],"Besides,":[164],"handling":[165],"range":[167],"target":[169],"presents":[171],"versatility":[173],"universality":[175],"manipulator":[178],"life.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-26T08:31:28.666265","created_date":"2025-10-10T00:00:00"}