{"id":"https://openalex.org/W4411019101","doi":"https://doi.org/10.1109/robosoft63089.2025.11020868","title":"3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers","display_name":"3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019101","doi":"https://doi.org/10.1109/robosoft63089.2025.11020868"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020868","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":"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/A5115817310","display_name":"Siebe J. Schouten","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Siebe J. Schouten","raw_affiliation_strings":["Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115817311","display_name":"Tomas Steenman","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Tomas Steenman","raw_affiliation_strings":["Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115817312","display_name":"Rens Fil\u00e9","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Rens Fil\u00e9","raw_affiliation_strings":["Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115817313","display_name":"Merlijn Den Hartog","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Merlijn Den Hartog","raw_affiliation_strings":["Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Mechanical Engineering Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080646399","display_name":"Aim\u00e9e Sakes","orcid":"https://orcid.org/0000-0002-4323-884X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Aimee Sakes","raw_affiliation_strings":["Delft University of Technology,BioMechanical Engineering Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,BioMechanical Engineering Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050239145","display_name":"Cosimo Della Santina","orcid":"https://orcid.org/0000-0003-1067-1134"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Cosimo Della Santina","raw_affiliation_strings":["Delft University of Technology,Cognitive Robotics Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Cognitive Robotics Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001934817","display_name":"Kirsten Lussenburg","orcid":"https://orcid.org/0000-0002-2518-9415"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Kirsten Lussenburg","raw_affiliation_strings":["Delft University of Technology,BioMechanical Engineering Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,BioMechanical Engineering Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019924964","display_name":"Ebrahim Shahabi","orcid":"https://orcid.org/0000-0002-4227-5374"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Ebrahim Shahabi","raw_affiliation_strings":["Delft University of Technology,Cognitive Robotics Department,CD Delft,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Cognitive Robotics Department,CD Delft,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5115817310"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":0.699,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70131171,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9995999932289124,"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":0.998199999332428,"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/stiffness","display_name":"Stiffness","score":0.6449170112609863},{"id":"https://openalex.org/keywords/lattice","display_name":"Lattice (music)","score":0.5548205375671387},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.4650965929031372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4650403559207916},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45029258728027344},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3457908034324646},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.33936628699302673},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32894381880760193},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.27886587381362915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2688596844673157},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2511078715324402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2078143060207367},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.17925071716308594}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6449170112609863},{"id":"https://openalex.org/C2781204021","wikidata":"https://www.wikidata.org/wiki/Q6497091","display_name":"Lattice (music)","level":2,"score":0.5548205375671387},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.4650965929031372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4650403559207916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45029258728027344},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3457908034324646},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.33936628699302673},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32894381880760193},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.27886587381362915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2688596844673157},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2511078715324402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2078143060207367},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.17925071716308594}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020868","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/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W214899926","https://openalex.org/W2093224253","https://openalex.org/W2140792632","https://openalex.org/W2214823792","https://openalex.org/W2416254177","https://openalex.org/W2560730116","https://openalex.org/W2592463846","https://openalex.org/W2743043185","https://openalex.org/W2895281825","https://openalex.org/W2904532819","https://openalex.org/W2939258959","https://openalex.org/W2964507111","https://openalex.org/W3028813881","https://openalex.org/W4249678223","https://openalex.org/W4292322671","https://openalex.org/W4295036137","https://openalex.org/W4308945982","https://openalex.org/W4309185661","https://openalex.org/W4376274190","https://openalex.org/W4378364005","https://openalex.org/W4380051553","https://openalex.org/W4380869730","https://openalex.org/W4388982391","https://openalex.org/W4389237771","https://openalex.org/W4391088583","https://openalex.org/W4391484310","https://openalex.org/W4392013788","https://openalex.org/W4392366489","https://openalex.org/W4399675612","https://openalex.org/W4400813941"],"related_works":["https://openalex.org/W4280652955","https://openalex.org/W2954638906","https://openalex.org/W2988789574","https://openalex.org/W585100505","https://openalex.org/W2601594414","https://openalex.org/W1993699589","https://openalex.org/W3081224497","https://openalex.org/W4220921803","https://openalex.org/W4386004832","https://openalex.org/W2317038355"],"abstract_inverted_index":{"Human":[0],"fingers":[1],"exhibit":[2],"remarkable":[3],"dexterity":[4],"and":[5,24,58,105,117],"adaptability":[6],"through":[7],"a":[8,39,51,100,106,114],"combination":[9],"of":[10,38,73,90],"structures":[11],"with":[12,67,79,92,113],"varying":[13,93],"stiffness":[14,65],"levels,":[15],"ranging":[16],"from":[17],"soft":[18,107],"tissues":[19],"(low":[20],"stiffness)":[21,27],"to":[22,28,62],"tendons":[23],"cartilage":[25],"(medium":[26],"bones":[29],"(high":[30],"stiffness).":[31],"This":[32],"paper":[33],"focuses":[34],"on":[35],"the":[36,85],"development":[37],"robotic":[40,103],"finger":[41,104],"that":[42],"emulates":[43],"these":[44],"multi-stiffness":[45],"characteristics.":[46],"Specifically,":[47],"we":[48,98],"propose":[49],"utilizing":[50],"lattice":[52],"configuration,":[53],"parameterized":[54],"by":[55],"voxel":[56],"size":[57],"unit":[59],"cell":[60],"geometry,":[61],"achieve":[63],"fine-tuned":[64],"properties":[66],"high":[68],"precision.":[69],"A":[70],"key":[71],"advantage":[72],"this":[74,96],"approach":[75],"is":[76,111],"its":[77,123],"compatibility":[78],"single-process":[80],"3D":[81],"printing,":[82],"which":[83],"eliminates":[84],"need":[86],"for":[87],"manual":[88],"assembly":[89],"components":[91],"stiffness.":[94],"Using":[95],"method,":[97],"present":[99],"novel,":[101],"human-like":[102],"gripper.":[108],"The":[109],"gripper":[110],"integrated":[112],"rigid":[115],"manipulator":[116],"demonstrated":[118],"in":[119],"pick-and-place":[120],"tasks,":[121],"showcasing":[122],"effectiveness.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
