{"id":"https://openalex.org/W3185419094","doi":"https://doi.org/10.1109/robosoft51838.2021.9479199","title":"Interoperable Models for Dynamics and Shape Tracking of Soft Fingers","display_name":"Interoperable Models for Dynamics and Shape Tracking of Soft Fingers","publication_year":2021,"publication_date":"2021-04-12","ids":{"openalex":"https://openalex.org/W3185419094","doi":"https://doi.org/10.1109/robosoft51838.2021.9479199","mag":"3185419094"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft51838.2021.9479199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft51838.2021.9479199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.12210/56801","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079956878","display_name":"Steeve Mbakop","orcid":"https://orcid.org/0000-0003-4819-9832"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Steeve Mbakop","raw_affiliation_strings":["CNRS, Centrale Lille, UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille, Univ. Lille, Lille, France","Junia, Smart Systems & Energies (SSE), Lille, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Centrale Lille, UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille, Univ. Lille, Lille, France","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Junia, Smart Systems & Energies (SSE), Lille, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087878717","display_name":"Gilles Tagne","orcid":"https://orcid.org/0000-0002-1298-2844"},"institutions":[{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gilles Tagne","raw_affiliation_strings":["CNRS, Centrale Lille, UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille, Univ. Lille, Lille, France","Junia, Smart Systems & Energies (SSE), Lille, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Centrale Lille, UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille, Univ. Lille, Lille, France","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Junia, Smart Systems & Energies (SSE), Lille, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086526073","display_name":"Marc-Henri Frouin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marc-Henri Frouin","raw_affiliation_strings":["Niryo, Lille, France"],"affiliations":[{"raw_affiliation_string":"Niryo, Lille, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061984641","display_name":"Rochdi Merzouki","orcid":"https://orcid.org/0000-0001-9153-6078"},"institutions":[{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rochdi Merzouki","raw_affiliation_strings":["CNRS, Centrale Lille, UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille, Univ. Lille, Lille, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Centrale Lille, UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille, Univ. Lille, Lille, France","institution_ids":["https://openalex.org/I4210115519","https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079956878"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210115519","https://openalex.org/I7454413"],"apc_list":null,"apc_paid":null,"fwci":0.1698,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45007749,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"31","issue":null,"first_page":"199","last_page":"206"},"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/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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9940000176429749,"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/kinematics","display_name":"Kinematics","score":0.6516400575637817},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5599225163459778},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5372443199157715},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4870636761188507},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4405432939529419},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.440360426902771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4209180176258087},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36034727096557617},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3419017493724823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28251951932907104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12227228283882141},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11301922798156738}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6516400575637817},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5599225163459778},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5372443199157715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4870636761188507},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4405432939529419},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.440360426902771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4209180176258087},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36034727096557617},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3419017493724823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28251951932907104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12227228283882141},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11301922798156738},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft51838.2021.9479199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft51838.2021.9479199","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03339785v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03339785","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), Apr 2021, New Haven, CT (virtuel), United States. pp.199-206, &#x27E8;10.1109/RoboSoft51838.2021.9479199&#x27E9;","raw_type":"Conference papers"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/56801","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/56801","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/56801","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/56801","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1589824090","https://openalex.org/W1902605501","https://openalex.org/W2014473363","https://openalex.org/W2075573376","https://openalex.org/W2378943110","https://openalex.org/W2774224567","https://openalex.org/W2994635009","https://openalex.org/W3000160985","https://openalex.org/W3003450231","https://openalex.org/W3007005079","https://openalex.org/W3007380892","https://openalex.org/W3035994506","https://openalex.org/W3041885040","https://openalex.org/W6780330173"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2039025105","https://openalex.org/W1842721500","https://openalex.org/W2048325583","https://openalex.org/W2169347279","https://openalex.org/W4385439013","https://openalex.org/W4296449477","https://openalex.org/W4307832533","https://openalex.org/W3016617003"],"abstract_inverted_index":{"A":[0],"lot":[1],"of":[2,24,73,107,125,153,156,165,175,180,185,199],"works":[3],"highlight":[4],"the":[5,17,22,32,43,70,74,117,121,126,134,151,154,157,173,176],"soft":[6,14,26,37,44,67,110,158,181,195],"material":[7],"properties,":[8],"used":[9,49,146],"in":[10],"grasping":[11,54,68],"tasks":[12],"by":[13,31,161],"fingers.":[15,111,182],"However,":[16],"kinematics":[18,152],"as":[19,21],"well":[20],"dynamics":[23,100,104],"these":[25],"fingers":[27],"are":[28,46,188],"strongly":[29],"influenced":[30],"material's":[33],"properties":[34],"along":[35],"their":[36,41],"structure.":[38],"Due":[39],"to":[40,50,66,101,147],"compliance,":[42],"grippers":[45],"more":[47],"often":[48],"achieve":[51],"form":[52,83],"closure":[53,60,84],"which":[55,132],"is":[56,145],"safer":[57],"than":[58],"force":[59],"grasping.":[61,85],"One":[62],"main":[63],"issue":[64],"related":[65],"concerns":[69],"shape":[71,106,155],"control":[72,123,143,150,178],"finger,":[75],"allowing":[76],"obtaining":[77],"perfect":[78],"compliance":[79],"when":[80],"attempting":[81],"a":[82,114,194],"In":[86],"this":[87,186],"work,":[88],"we":[89],"propose":[90],"interoperable":[91],"models":[92],"based":[93],"on":[94],"Pythagorean":[95,128],"Hodograph":[96,129],"and":[97,105,120,149,191],"Euler-Bernoulli's":[98],"beam":[99],"model":[102,148],"both":[103],"Fluidic":[108,200],"Elastomeric":[109,201],"This":[112,168],"makes":[113],"relationship":[115],"between":[116],"physical":[118],"actuators":[119],"virtual":[122,177],"points":[124,144,179],"parametric":[127],"(PH)":[130],"curve":[131,139],"drive":[133],"finger":[135,196],"shape.":[136],"The":[137,183],"PH":[138],"with":[140,193],"its":[141],"finite":[142],"fingers,":[159],"characterized":[160],"an":[162],"infinite":[163],"degree":[164],"freedom":[166],"(DoF).":[167],"modeling":[169,187],"will":[170],"allow":[171],"controlling":[172],"position":[174],"results":[184],"validated":[189],"numerically":[190],"experimentally":[192],"made":[197],"up":[198],"Actuators":[202],"(FEA).":[203]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
