{"id":"https://openalex.org/W4376605759","doi":"https://doi.org/10.1109/robosoft55895.2023.10122024","title":"DragonClaw: A low-cost pneumatic gripper with integrated magnetic sensing","display_name":"DragonClaw: A low-cost pneumatic gripper with integrated magnetic sensing","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605759","doi":"https://doi.org/10.1109/robosoft55895.2023.10122024"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5043334100","display_name":"Vani Sundaram","orcid":"https://orcid.org/0000-0002-5040-0526"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vani H. Sundaram","raw_affiliation_strings":["University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050201650","display_name":"Raunaq Bhirangi","orcid":"https://orcid.org/0000-0001-9306-5724"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Raunaq Bhirangi","raw_affiliation_strings":["Carnegie Mellon University and Meta AI Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University and Meta AI Research","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041822706","display_name":"Mark E. Rentschler","orcid":"https://orcid.org/0000-0002-5901-8358"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark E. Rentschler","raw_affiliation_strings":["University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101761269","display_name":"Abhinav Gupta","orcid":"https://orcid.org/0000-0003-2298-3063"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhinav Gupta","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001930800","display_name":"Tess Hellebrekers","orcid":"https://orcid.org/0000-0002-1801-8300"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tess Hellebrekers","raw_affiliation_strings":["Meta AI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meta AI","institution_ids":[]}]}],"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":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9973999857902527,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9805999994277954,"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/grippers","display_name":"Grippers","score":0.9001191854476929},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5981017351150513},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.559879720211029},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5456463098526001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5368708968162537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5128431916236877},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5007467269897461},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4885750710964203},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.46262407302856445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3562384247779846},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3550499677658081},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33432769775390625},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2847882807254791},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13547149300575256}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9001191854476929},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5981017351150513},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.559879720211029},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5456463098526001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5368708968162537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5128431916236877},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5007467269897461},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4885750710964203},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.46262407302856445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3562384247779846},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3550499677658081},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33432769775390625},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2847882807254791},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13547149300575256}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122024","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G8891383848","display_name":"CPS: TTP Option: Medium: Synthetic, Distributed Sensing, Soft and Modular Tissue (sTISSUE)","funder_award_id":"1739452","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1608215728","https://openalex.org/W1614964691","https://openalex.org/W1888892744","https://openalex.org/W1900860620","https://openalex.org/W1984187759","https://openalex.org/W2002236162","https://openalex.org/W2004704458","https://openalex.org/W2026640515","https://openalex.org/W2079574144","https://openalex.org/W2161214753","https://openalex.org/W2519437300","https://openalex.org/W2560730116","https://openalex.org/W2587325282","https://openalex.org/W2592171368","https://openalex.org/W2735610820","https://openalex.org/W2760784789","https://openalex.org/W2773363539","https://openalex.org/W2775026049","https://openalex.org/W2784648116","https://openalex.org/W2881756927","https://openalex.org/W2890102452","https://openalex.org/W2963486077","https://openalex.org/W3016793351","https://openalex.org/W3080972094","https://openalex.org/W3087640577","https://openalex.org/W3132657369","https://openalex.org/W3200067310","https://openalex.org/W3208264067","https://openalex.org/W3210183521","https://openalex.org/W4210913434","https://openalex.org/W4283263216","https://openalex.org/W4285214465","https://openalex.org/W4286890426","https://openalex.org/W4292326897","https://openalex.org/W4295036252","https://openalex.org/W6803256779","https://openalex.org/W6842079652"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2911666782","https://openalex.org/W2773810465","https://openalex.org/W2123055169","https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W4224212509","https://openalex.org/W1978574942","https://openalex.org/W2901721787"],"abstract_inverted_index":{"Advances":[0],"in":[1,9,122,177],"robotics":[2,47],"and":[3,81,109,138],"rapid":[4],"prototyping":[5],"have":[6],"spurred":[7],"interest":[8],"soft":[10,32,46,173],"grippers":[11,33],"across":[12],"diverse":[13],"fields":[14],"ranging":[15,156],"from":[16],"medical":[17],"devices":[18],"to":[19,29,41,67,87,127,129,141,158],"warehouse":[20],"robotics.":[21],"With":[22],"this":[23,69,160,167],"growing":[24],"interest,":[25],"it":[26],"is":[27,65,102,119,169],"imperative":[28],"create":[30],"straight-forward":[31],"with":[34,59,154],"embedded":[35,60],"sensing":[36,63],"that":[37,181],"are":[38,145],"more":[39],"accessible":[40],"people":[42,153],"outside":[43],"of":[44,79,99,136,166,172],"the":[45,85,100,114,133,143,149,164,170],"community.":[48],"The":[49,71,96],"DragonClaw":[50,86,144,150],"-":[51,64],"a":[52,77,89,123,178],"3D-printable,":[53],"pneumatically":[54],"actuated,":[55],"three-fingered":[56],"dexterous":[57,94],"gripper":[58,101,175],"magnetic":[61,116],"tactile":[62],"intended":[66],"bridge":[68],"gap.":[70],"2-DOF":[72],"thumb":[73],"design":[74],"allows":[75],"for":[76,93],"range":[78,98],"precision":[80],"power":[82],"grasps,":[83],"enabling":[84],"complete":[88],"modified":[90],"Kapandji":[91],"test":[92],"ability.":[95],"operating":[97],"characterized":[103],"through":[104],"experiments":[105],"on":[106,148],"grip":[107],"strength":[108],"finger":[110],"blocking":[111],"force.":[112],"Further,":[113],"integrated":[115],"sensor,":[117],"ReSkin,":[118],"successfully":[120],"demon-strated":[121],"closed-loop":[124],"control":[125],"task":[126],"respond":[128],"external":[130],"disturbances.":[131],"Finally,":[132],"documentation,":[134],"bill":[135],"materials,":[137],"detailed":[139],"instructions":[140],"replicate":[142],"made":[146],"available":[147],"website,":[151],"encouraging":[152],"wide":[155],"expertise":[157],"reproduce":[159],"work.":[161],"In":[162],"summary,":[163],"novelty":[165],"work":[168],"integration":[171],"robotic":[174],"feedback":[176],"form":[179],"factor":[180],"can":[182],"easily":[183],"be":[184],"reproduced":[185],"by":[186],"inexpensive,":[187],"simplified":[188],"manufacturing":[189],"methods.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
