{"id":"https://openalex.org/W2150935941","doi":"https://doi.org/10.1109/robot.2003.1242077","title":"The HIT/DLR dexterous hand: work in progress","display_name":"The HIT/DLR dexterous hand: work in progress","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W2150935941","doi":"https://doi.org/10.1109/robot.2003.1242077","mag":"2150935941"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242077","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/A5008121287","display_name":"Xiaohui Gao","orcid":"https://orcid.org/0000-0001-7051-702X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"X.H. Gao","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101525971","display_name":"Minghe Jin","orcid":"https://orcid.org/0000-0001-6643-2824"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"M.H. Jin","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006956791","display_name":"Li Jiang","orcid":"https://orcid.org/0000-0003-1740-5525"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"L. Jiang","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006416939","display_name":"Zongwu Xie","orcid":"https://orcid.org/0000-0003-4450-8730"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Z.W. Xie","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070848500","display_name":"Peng He","orcid":"https://orcid.org/0000-0002-5175-5134"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"P. He","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042544148","display_name":"Linjie Yang","orcid":"https://orcid.org/0000-0003-2766-1143"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"L. Yang","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005060223","display_name":"Yabo Liu","orcid":"https://orcid.org/0000-0001-6647-9817"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y.W. Liu","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045251158","display_name":"R. Wei","orcid":"https://orcid.org/0009-0004-5963-4267"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"R. Wei","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113654166","display_name":"Hegao Cai","orcid":"https://orcid.org/0009-0004-1853-4665"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"H.G. Cai","raw_affiliation_strings":["Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology (HIT), Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060829659","display_name":"H. Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"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":["CN","DE"],"is_corresponding":false,"raw_author_name":"H. Liu","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","Robot Research Institute, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073090812","display_name":"J. Butterfa\u00df","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"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":["CN","DE"],"is_corresponding":false,"raw_author_name":"J. Butterfass","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","Robot Research Institute, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"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/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"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":["CN","DE"],"is_corresponding":false,"raw_author_name":"M. Grebenstein","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","Robot Research Institute, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"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 of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113442349","display_name":"G. Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"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":["CN","DE"],"is_corresponding":false,"raw_author_name":"G. Hirzinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","Robot Research Institute, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center(DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":14,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.7723,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.95017277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"3164","last_page":"3168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9800999760627747,"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":0.9800999760627747,"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/T10630","display_name":"Orthopedic Surgery and Rehabilitation","score":0.9724000096321106,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9675999879837036,"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/work","display_name":"Work (physics)","score":0.6097740530967712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5941656827926636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24324321746826172},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14797458052635193}],"concepts":[{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.6097740530967712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941656827926636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24324321746826172},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14797458052635193}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1242077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242077","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:elib.dlr.de:12019","is_oa":false,"landing_page_url":"https://elib.dlr.de/12019/","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2008796702","https://openalex.org/W2082274974","https://openalex.org/W2085545845","https://openalex.org/W2121378538","https://openalex.org/W2134167019","https://openalex.org/W2159717066"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,13,49,61,84,88],"current":[4],"work":[5],"progress":[6],"of":[7,15,34],"HIT/DLR":[8],"Dexterous":[9],"Hand.":[10],"Based":[11],"on":[12],"technology":[14],"DLR":[16,21],"Hand":[17],"II,":[18],"HIT":[19],"and":[20,27,46,83,90,99],"are":[22,53,63],"jointly":[23],"developing":[24],"a":[25,57],"smaller":[26],"easier":[28],"manufactured":[29],"robot":[30],"hand.":[31],"The":[32,41,104],"prototype":[33],"one":[35],"finger":[36,42],"has":[37,43],"been":[38],"successfully":[39],"built.":[40],"three":[44],"DOF":[45],"four":[47],"joints,":[48],"last":[50],"two":[51],"joints":[52],"mechanically":[54],"coupled":[55],"by":[56],"rigid":[58],"linkage.":[59],"All":[60],"actuators":[62],"commercial":[64],"brushless":[65],"DC":[66],"motors":[67],"with":[68],"integrated":[69],"analog":[70],"Hall":[71],"sensors.":[72],"DSP":[73,91],"based":[74],"control":[75],"system":[76],"is":[77],"implemented":[78],"in":[79],"PCI":[80],"bus":[81],"architecture":[82],"serial":[85],"communication":[86,102],"between":[87],"hand":[89],"needs":[92],"only":[93],"6":[94],"lines(4":[95],"lines":[96,101],"power":[97],"supply":[98],"2":[100],"interface).":[103],"fingertip":[105],"force":[106],"can":[107],"reach":[108],"10N.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}