{"id":"https://openalex.org/W2096277350","doi":"https://doi.org/10.1109/robot.2003.1241673","title":"DLR hand II: hard- and software architecture for information processing","display_name":"DLR hand II: hard- and software architecture for information processing","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W2096277350","doi":"https://doi.org/10.1109/robot.2003.1241673","mag":"2096277350"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5110520352","display_name":"S. Haidacher","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"S. Haidacher","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073090812","display_name":"J. Butterfa\u00df","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Butterfass","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007473459","display_name":"Max Fischer","orcid":"https://orcid.org/0000-0002-3326-1368"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Fischer","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014592114","display_name":"Markus Grebenstein","orcid":"https://orcid.org/0000-0002-4026-3716"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Grebenstein","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020434261","display_name":"K. Joehl","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Joehl","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085444472","display_name":"Klaus Kunze","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Kunze","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030433110","display_name":"M. Nickl","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Nickl","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027463637","display_name":"Nikolaus Seitz","orcid":"https://orcid.org/0000-0003-0634-9839"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"N. Seitz","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112045231","display_name":"G. Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Hirzinger","raw_affiliation_strings":["Institute for Robotics and Mechatronics, German Aerospace Center, Germany","Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Mechatronics, German Aerospace Center, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. for Robotics & Mechatronics, DLR, Gottingen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5110520352"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":4.3844,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.93584913,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"684","last_page":"689"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.983299970626831,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9704999923706055,"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":0.843691349029541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.700089693069458},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.65794438123703},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6480672955513},{"id":"https://openalex.org/keywords/scratch","display_name":"Scratch","score":0.5880500674247742},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5759055018424988},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.4854796230792999},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.48308637738227844},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.45266658067703247},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4318932890892029},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43068838119506836},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4248623847961426},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3497160077095032},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3408198058605194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28847670555114746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24088740348815918},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.20019036531448364},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.15434089303016663},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07671314477920532}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.843691349029541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.700089693069458},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.65794438123703},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6480672955513},{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.5880500674247742},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5759055018424988},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.4854796230792999},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.48308637738227844},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.45266658067703247},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4318932890892029},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43068838119506836},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4248623847961426},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3497160077095032},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3408198058605194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28847670555114746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24088740348815918},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.20019036531448364},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.15434089303016663},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07671314477920532},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2003.1241673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.88.2153","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.88.2153","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dlr.de/rm-neu/Portaldata/52/Resources/dokumente/hand/icra2003contr.pdf","raw_type":"text"},{"id":"pmh:oai:elib.dlr.de:11948","is_oa":false,"landing_page_url":"https://elib.dlr.de/11948/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W160252641","https://openalex.org/W2121378538","https://openalex.org/W2124397572","https://openalex.org/W2134167019","https://openalex.org/W2134805236","https://openalex.org/W2136235082","https://openalex.org/W2138486893","https://openalex.org/W2150443439","https://openalex.org/W2151761374","https://openalex.org/W2159717066","https://openalex.org/W6682193021"],"related_works":["https://openalex.org/W2475116013","https://openalex.org/W2770018148","https://openalex.org/W2358308169","https://openalex.org/W2385135707","https://openalex.org/W2140315382","https://openalex.org/W2059109728","https://openalex.org/W322691623","https://openalex.org/W2494989134","https://openalex.org/W2509444723","https://openalex.org/W1640559846"],"abstract_inverted_index":{"In":[0],"the":[1,38,90,119],"robotic":[2,46],"community":[3],"more":[4,6,63],"and":[5,33,41,56,73,127],"hands":[7],"have":[8],"been":[9],"developed.":[10],"These":[11],"newly":[12,76],"designed":[13],"manipulators":[14],"greatly":[15],"outperform":[16],"their":[17],"ancestors":[18],"in":[19,134],"terms":[20],"of":[21,43,45,52,113],"available":[22],"sensor":[23],"signals,":[24],"applicable":[25],"grasping":[26],"force,":[27],"mechanical":[28],"stability,":[29],"reliability,":[30],"kinematic":[31],"design":[32],"more.":[34],"This":[35,116],"development":[36],"extends":[37],"possible":[39],"range":[40],"complexity":[42],"applications":[44],"grippers":[47],"also":[48,60],"to":[49,67,81,106,131],"areas":[50],"outside":[51],"well":[53],"structured":[54],"laboratories":[55],"simple":[57],"tasks.":[58],"It":[59],"calls":[61],"for":[62,71,85,100,109],"flexible":[64],"control":[65,97],"structures":[66],"provide":[68],"a":[69,96,110],"framework":[70],"implementing":[72],"executing":[74],"these":[75],"arising":[77],"tasks":[78],"without":[79],"having":[80],"start":[82],"from":[83],"scratch":[84],"each":[86],"new":[87,132],"task.":[88],"During":[89],"last":[91],"few":[92],"years":[93],"we":[94],"developed":[95],"system":[98],"architecture":[99,129],"DLR":[101,123],"hand":[102,124],"II":[103],"that":[104],"proved":[105],"be":[107],"useful":[108],"great":[111],"variety":[112],"different":[114],"applications.":[115],"paper":[117],"presents":[118],"basic":[120],"ideas":[121],"behind":[122],"II's":[125],"hard-":[126],"software":[128],"adapted":[130],"needs":[133],"data":[135],"processing.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
