{"id":"https://openalex.org/W2125583715","doi":"https://doi.org/10.1109/robot.2004.1307994","title":"On the design of a hydraulically actuated finger for dexterous manipulation","display_name":"On the design of a hydraulically actuated finger for dexterous manipulation","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2125583715","doi":"https://doi.org/10.1109/robot.2004.1307994","mag":"2125583715"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5046316602","display_name":"Daniel F. Schmidt","orcid":"https://orcid.org/0000-0002-1788-2375"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"D.F. Schmidt","raw_affiliation_strings":["Department of Computer Science and Software Engineering, Monash University, Melbourne, Australia","Dept. of Computer Science and Software Engineering, Monash University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Software Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Dept. of Computer Science and Software Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074153961","display_name":"Gordon Lowe","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"G.S. Lowe","raw_affiliation_strings":["Department of Computer Science and Software Engineering, Monash University, Melbourne, Australia","Dept. of Computer Science and Software Engineering, Monash University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Software Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Dept. of Computer Science and Software Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017819584","display_name":"Andrew P. Papli\u0144ski","orcid":"https://orcid.org/0000-0002-3639-1045"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A.P. Paplinski","raw_affiliation_strings":["Department of Computer Science and Software Engineering, Monash University, Melbourne, Australia","Dept. of Computer Science and Software Engineering, Monash University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Software Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Dept. of Computer Science and Software Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1239","last_page":"1244 Vol.2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9980000257492065,"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/grippers","display_name":"Grippers","score":0.8777146339416504},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7777457237243652},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.6903947591781616},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.4986996650695801},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4686892330646515},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4123912751674652},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4123390316963196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4067646265029907},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32267332077026367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17069798707962036}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8777146339416504},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7777457237243652},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.6903947591781616},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.4986996650695801},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4686892330646515},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4123912751674652},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4123390316963196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4067646265029907},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32267332077026367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17069798707962036}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307994","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W611790969","https://openalex.org/W1520726269","https://openalex.org/W1538315967","https://openalex.org/W1555601014","https://openalex.org/W1996630649","https://openalex.org/W1999375810","https://openalex.org/W2055922473","https://openalex.org/W2072288830","https://openalex.org/W2098678228","https://openalex.org/W2109526590","https://openalex.org/W2115246300","https://openalex.org/W2134805236","https://openalex.org/W2159717066","https://openalex.org/W2163092500","https://openalex.org/W3025170633"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3028163505","https://openalex.org/W2191403106","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W2366788655","https://openalex.org/W2048497285","https://openalex.org/W2188593406"],"abstract_inverted_index":{"We":[0],"propose":[1],"an":[2,118],"actuator":[3],"for":[4,7,115],"multi-fingered":[5],"grippers":[6],"industrial":[8,119],"robots":[9],"built":[10,93],"around":[11],"fluid-powered":[12],"bladders":[13],"enclosed":[14],"within":[15,73],"the":[16,19,28,35,40,45,47,55,60,74,85,104,107],"structure":[17],"of":[18,34,39,54,59,90,96],"phalanges":[20,75],"themselves.":[21],"Unlike":[22],"a":[23,32,52,91],"normal":[24],"hydraulic":[25],"cylinder":[26],"where":[27],"available":[29],"force":[30,46],"is":[31,65],"function":[33,53],"height":[36],"and":[37,57,77,87,99],"width":[38,58],"phalanges,":[41],"in":[42,117],"this":[43],"configuration,":[44],"fingers":[48,109],"can":[49,110],"generate":[50,111],"becomes":[51],"length":[56],"phalange.":[61],"The":[62],"proposed":[63,108],"design":[64],"mechanically":[66],"simple":[67],"with":[68],"all":[69],"actuation":[70],"elements":[71],"contained":[72],"themselves,":[76],"has":[78],"minimal":[79],"moving":[80],"parts.":[81],"This":[82],"paper":[83],"presents":[84],"dynamic":[86],"static":[88],"characteristics":[89],"finger":[92],"from":[94],"three":[95],"these":[97],"actuators,":[98],"simulation":[100],"results":[101],"show":[102],"that":[103],"fingertip":[105],"forces":[106],"make":[112],"them":[113],"suitable":[114],"application":[116],"environment.":[120]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}