{"id":"https://openalex.org/W1597681453","doi":"https://doi.org/10.1109/robot.2003.1241862","title":"A high force miniature gripper fabricated via shape deposition manufacturing","display_name":"A high force miniature gripper fabricated via shape deposition manufacturing","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W1597681453","doi":"https://doi.org/10.1109/robot.2003.1241862","mag":"1597681453"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241862","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/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"M.R. Cutkosky","raw_affiliation_strings":["Piazza Martin della Lihert\u00e0, CRIM Laboratory-Scuola Superiore Sant''Anna, Pisa, Italy","CRIM, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Piazza Martin della Lihert\u00e0, CRIM Laboratory-Scuola Superiore Sant''Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"CRIM, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Dario","raw_affiliation_strings":["Center for Design Research, University of Stanford, Stanford, CA, USA","CRIM, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Center for Design Research, University of Stanford, Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"CRIM, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067436187","display_name":"Cesare Stefanini","orcid":"https://orcid.org/0000-0003-0989-041X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Stefanini","raw_affiliation_strings":["Piazza Martin della Lihert\u00e0, CRIM Laboratory-Scuola Superiore Sant''Anna, Pisa, Italy","CRIM, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Piazza Martin della Lihert\u00e0, CRIM Laboratory-Scuola Superiore Sant''Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"CRIM, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5046683404"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":1.4307,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79509972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"19","issue":null,"first_page":"1836","last_page":"1841"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T10888","display_name":"Augmented Reality Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9961000084877014,"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/fabrication","display_name":"Fabrication","score":0.7506189942359924},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6350988745689392},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6165798902511597},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6067981719970703},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.5307702422142029},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5161360502243042},{"id":"https://openalex.org/keywords/deposition","display_name":"Deposition (geology)","score":0.5106135010719299},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.49459168314933777},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4911136329174042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38406941294670105},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24398493766784668},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.20483681559562683}],"concepts":[{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.7506189942359924},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6350988745689392},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6165798902511597},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6067981719970703},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.5307702422142029},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5161360502243042},{"id":"https://openalex.org/C64297162","wikidata":"https://www.wikidata.org/wiki/Q1987070","display_name":"Deposition (geology)","level":3,"score":0.5106135010719299},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.49459168314933777},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4911136329174042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38406941294670105},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24398493766784668},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.20483681559562683},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2816523","wikidata":"https://www.wikidata.org/wiki/Q180184","display_name":"Sediment","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241862","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1976322795","https://openalex.org/W2046360834","https://openalex.org/W2097747409","https://openalex.org/W2123886282","https://openalex.org/W2130624027","https://openalex.org/W2160899683","https://openalex.org/W2167580440","https://openalex.org/W2172415325","https://openalex.org/W2898099082","https://openalex.org/W6756091111"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2078285315","https://openalex.org/W2527333706","https://openalex.org/W2808090143","https://openalex.org/W2964156592","https://openalex.org/W2046711618","https://openalex.org/W2377711883"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,20,25,44,88],"new":[4],"miniature":[5],"gripper":[6,16,40,71,83],"design,":[7],"suitable":[8],"for":[9],"endoscopic":[10],"surgery":[11],"and":[12,33,48,57,62,73,78,114],"similar":[13],"applications.":[14],"The":[15,39,51,70],"is":[17,41],"based":[18],"on":[19,54,104],"mechanism":[21,52],"fabricated":[22],"in-situ":[23],"via":[24],"rapid":[26],"prototyping":[27],"process":[28,75],"that":[29],"permits":[30],"multiple":[31],"materials":[32],"the":[34,82,91,94,105,109,117],"addition":[35],"of":[36,67,81,90,93,111],"embedded":[37],"components.":[38],"actuated":[42],"using":[43],"tuned":[45],"vibrating":[46],"mass":[47],"impact":[49],"mechanism.":[50],"relies":[53],"close":[55],"tolerances":[56],"clearances,":[58],"obtained":[59],"by":[60],"depositing":[61],"subsequently":[63],"removing":[64],"thin":[65],"films":[66],"sacrificial":[68],"material.":[69],"design":[72],"fabrication":[74],"are":[76],"scalable,":[77],"future":[79],"versions":[80],"can":[84],"be":[85],"made":[86],"at":[87,116],"fraction":[89],"size":[92],"first":[95,106],"15":[96],"mm":[97],"prototype":[98,107],"without":[99],"incurring":[100],"manufacturing":[101],"difficulty.":[102],"Tests":[103],"reveal":[108],"importance":[110],"controlling":[112],"friction":[113],"preload":[115],"sliding":[118],"interface.":[119]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}