{"id":"https://openalex.org/W4411019417","doi":"https://doi.org/10.1109/robosoft63089.2025.11020856","title":"A Humanoid Finger Joint Based on Two-way Shape Memory Alloy and Electrostatic Clutch*","display_name":"A Humanoid Finger Joint Based on Two-way Shape Memory Alloy and Electrostatic Clutch*","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019417","doi":"https://doi.org/10.1109/robosoft63089.2025.11020856"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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/A5106698945","display_name":"Xiaozheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozheng Li","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069779287","display_name":"Chuang Wu","orcid":"https://orcid.org/0000-0001-5522-9388"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Wu","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022339913","display_name":"Chongjing Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongjing Cao","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16655527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.7170658111572266},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6815748810768127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5677945613861084},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5435668230056763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3134797215461731},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1954360008239746},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19487830996513367},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1948634684085846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06834366917610168}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.7170658111572266},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6815748810768127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5677945613861084},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5435668230056763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3134797215461731},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1954360008239746},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19487830996513367},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1948634684085846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06834366917610168}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2807355629","https://openalex.org/W2909662786","https://openalex.org/W2991272439","https://openalex.org/W3024757840","https://openalex.org/W3099367335","https://openalex.org/W3136498905","https://openalex.org/W3190978575","https://openalex.org/W4200213509","https://openalex.org/W4205956111","https://openalex.org/W4224095662","https://openalex.org/W4281488069","https://openalex.org/W4285294932","https://openalex.org/W4289077039","https://openalex.org/W4289656391","https://openalex.org/W4307972548","https://openalex.org/W4311053783","https://openalex.org/W4312854180","https://openalex.org/W4313161564","https://openalex.org/W4313332557","https://openalex.org/W4317670109","https://openalex.org/W4360619340","https://openalex.org/W4366352225","https://openalex.org/W4376875344","https://openalex.org/W4383599141","https://openalex.org/W4386170013","https://openalex.org/W4386902715","https://openalex.org/W4387964813","https://openalex.org/W4392299332","https://openalex.org/W4392982902","https://openalex.org/W4401262351"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1841497340","https://openalex.org/W104615690","https://openalex.org/W3168655051","https://openalex.org/W4205311664"],"abstract_inverted_index":{"A":[0],"humanoid":[1],"finger":[2,62,95,180,212],"joint":[3,63,96],"based":[4],"on":[5,29],"two-way":[6,21,149,168],"shape":[7],"memory":[8],"alloy":[9],"(SMA)":[10],"and":[11,23,40,85,92,141,170,175,185,199,204],"electrostatic":[12,24,58,130,171],"clutch":[13,25],"technology":[14],"is":[15,47,97,138,155,197],"introduced":[16],"in":[17,56],"this":[18],"paper.":[19],"The":[20,87,101,123,194],"SMA":[22,150,169],"are":[26],"symmetrically":[27],"arranged":[28],"both":[30],"sides":[31],"of":[32,52,89,108,120,128,147,166,178,210],"the":[33,37,50,53,57,61,71,93,105,109,129,142,148,163,167,179,186,208],"deflection":[34,189],"module":[35,46,91,112,132,151,188],"as":[36],"main":[38],"actuation":[39,145,164],"locking":[41,177],"mechanisms.":[42],"An":[43],"elastic":[44],"pre-stretching":[45,111],"connected":[48],"to":[49,64],"end":[51,144],"movable":[54],"film":[55],"clutch,":[59,172],"enabling":[60],"achieve":[65],"antagonistic":[66],"bidirectional":[67],"deflection.":[68],"In":[69,158],"addition,":[70,159],"design":[72,196,209],"also":[73],"includes":[74],"a":[75,81,118],"3D-integrated":[76],"printed":[77],"rigid":[78],"support":[79],"with":[80,117],"hinge,":[82],"ensuring":[83],"stability":[84],"flexibility.":[86],"performance":[88],"each":[90],"entire":[94,195],"studied":[98],"through":[99],"experiments.":[100],"results":[102],"show":[103],"that":[104],"maximum":[106,124,143],"force":[107,127,146],"designed":[110,187],"can":[113,182,191],"reach":[114,192],"1.7":[115],"N,":[116,140],"displacement":[119],"20":[121],"mm.":[122],"adsorption":[125,131],"friction":[126],"at":[133,152],"5000":[134],"V":[135],"(10":[136],"Hz)":[137],"0.54":[139],"45":[153],"\u2103":[154],"0.87":[156],"N.":[157],"by":[160],"precisely":[161],"controlling":[162],"voltage":[165],"large-scale":[173],"movement":[174],"stable":[176],"joints":[181],"be":[183],"achieved,":[184],"angle":[190],"8.2\u00b0.":[193],"simple":[198],"lightweight,":[200],"providing":[201],"an":[202],"efficient":[203],"precise":[205],"solution":[206],"for":[207],"robot":[211],"joints.":[213]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}