{"id":"https://openalex.org/W2145657347","doi":"https://doi.org/10.1109/robot.2009.5152259","title":"Miniature soft hand with curling rubber pneumatic actuators","display_name":"Miniature soft hand with curling rubber pneumatic actuators","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2145657347","doi":"https://doi.org/10.1109/robot.2009.5152259","mag":"2145657347"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5033569817","display_name":"Shuichi Wakimoto","orcid":"https://orcid.org/0000-0001-5591-6161"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Wakimoto","raw_affiliation_strings":["Okayama University, Okayama, Japan","Okayama University, Tsushima-naka, 700-8530 Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University, Tsushima-naka, 700-8530 Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109239343","display_name":"Kengo Ogura","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Ogura","raw_affiliation_strings":["Okayama University, Okayama, Japan","Okayama University, Tsushima-naka, 700-8530 Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University, Tsushima-naka, 700-8530 Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Suzumori","raw_affiliation_strings":["Okayama University, Okayama, Japan","Okayama University, Tsushima-naka, 700-8530 Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University, Tsushima-naka, 700-8530 Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109211169","display_name":"Yasutaka NISHIOKA","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Nishioka","raw_affiliation_strings":["Okayama University, Okayama, Japan","Okayama University, Tsushima-naka, 700-8530 Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University, Tsushima-naka, 700-8530 Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033569817"],"corresponding_institution_ids":["https://openalex.org/I163770644"],"apc_list":null,"apc_paid":null,"fwci":1.3673,"has_fulltext":false,"cited_by_count":107,"citation_normalized_percentile":{"value":0.81746357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"556","last_page":"561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10412","display_name":"Microfluidic and Capillary Electrophoresis Applications","score":0.9993000030517578,"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/T10412","display_name":"Microfluidic and Capillary Electrophoresis Applications","score":0.9993000030517578,"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/T11190","display_name":"3D Printing in Biomedical Research","score":0.9973999857902527,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9937999844551086,"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/curling","display_name":"Curling","score":0.8206374049186707},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7835195660591125},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6025650501251221},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.555687665939331},{"id":"https://openalex.org/keywords/microactuator","display_name":"Microactuator","score":0.5376253128051758},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5137101411819458},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.4873736500740051},{"id":"https://openalex.org/keywords/natural-rubber","display_name":"Natural rubber","score":0.4782658815383911},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.4651055932044983},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4509704113006592},{"id":"https://openalex.org/keywords/mandrel","display_name":"Mandrel","score":0.4316796362400055},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.41823670268058777},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.31835848093032837},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2791515588760376},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.20793426036834717},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10516050457954407}],"concepts":[{"id":"https://openalex.org/C2777383481","wikidata":"https://www.wikidata.org/wiki/Q5194858","display_name":"Curling","level":2,"score":0.8206374049186707},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7835195660591125},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6025650501251221},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.555687665939331},{"id":"https://openalex.org/C58373989","wikidata":"https://www.wikidata.org/wiki/Q6839208","display_name":"Microactuator","level":3,"score":0.5376253128051758},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5137101411819458},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.4873736500740051},{"id":"https://openalex.org/C176933379","wikidata":"https://www.wikidata.org/wiki/Q131877","display_name":"Natural rubber","level":2,"score":0.4782658815383911},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.4651055932044983},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4509704113006592},{"id":"https://openalex.org/C2777918083","wikidata":"https://www.wikidata.org/wiki/Q136706","display_name":"Mandrel","level":2,"score":0.4316796362400055},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.41823670268058777},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.31835848093032837},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2791515588760376},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.20793426036834717},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10516050457954407}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1493314354","https://openalex.org/W1592986557","https://openalex.org/W2013189565","https://openalex.org/W2054912718","https://openalex.org/W2101377298","https://openalex.org/W2105377162","https://openalex.org/W2127966735","https://openalex.org/W2131387696","https://openalex.org/W2140109421","https://openalex.org/W2156484121","https://openalex.org/W2171257924","https://openalex.org/W2534663435","https://openalex.org/W2617842969","https://openalex.org/W6683174251"],"related_works":["https://openalex.org/W3012098017","https://openalex.org/W4241535342","https://openalex.org/W2966243206","https://openalex.org/W3116899969","https://openalex.org/W2132657054","https://openalex.org/W2080649296","https://openalex.org/W3216164956","https://openalex.org/W2726199341","https://openalex.org/W4367725574","https://openalex.org/W4282979149"],"abstract_inverted_index":{"In":[0,88],"medical":[1],"and":[2,38,52,110,129,153,217],"biotechnology":[3],"fields,":[4],"soft":[5,26,112,195],"devices":[6],"are":[7],"required":[8],"because":[9],"of":[10,23,30,57,73,95,166,198],"their":[11],"high":[12],"safety":[13],"from":[14],"low":[15],"mechanical":[16],"impedance.":[17],"FMA":[18,58,99],"(Flexible":[19],"Microactuator)":[20],"is":[21,77,135],"one":[22],"the":[24,74,81,85,115,119,167,182],"typical":[25],"actuators.":[27,116,201],"It":[28,43],"consists":[29],"fiber-reinforced":[31],"rubber":[32,86,139,150,154],"structure":[33],"with":[34,157,178],"multi":[35],"air":[36],"chambers":[37],"realizes":[39],"bending":[40],"motion":[41,174],"pneumatically.":[42],"has":[44,59],"been":[45,60],"applied":[46],"to":[47,79],"robot":[48,50],"hands,":[49],"legs":[51],"so":[53],"on.":[54],"High":[55],"potential":[56],"confirmed":[61],"by":[62,160,208],"many":[63],"experiments":[64,165],"reported":[65],"in":[66,70,84],"several":[67],"papers.":[68],"However":[69],"fabrication":[71],"process":[72,141,145,152,156],"actuator,":[75],"it":[76,171],"difficult":[78],"embed":[80],"reinforced":[82],"fiber":[83,97,122],"structure.":[87],"this":[89],"study,":[90],"we":[91,192],"aim":[92],"at":[93],"development":[94],"a":[96,111,186,194],"less":[98],"realizing":[100],"quite":[101],"large":[102],"motion,":[103,109],"which":[104,175],"can":[105],"be":[106,206],"said":[107],"curling":[108,173,200],"hand":[113,196,203,214],"using":[114,123],"We":[117],"design":[118],"actuator":[120,134,168,183],"without":[121,189],"nonlinear":[124],"FEM":[125,179],"(Finite":[126],"Element":[127],"Method)":[128],"derived":[130],"efficient":[131],"shape.":[132],"The":[133,212],"fabricated":[136],"through":[137],"micro":[138,143,148],"casting":[140,210],"including":[142],"machining":[144],"for":[146],"molds,":[147],"vacuum":[149],"molding":[151],"bonding":[155],"surface":[158],"improvement":[159],"excimer":[161],"light.":[162],"Basic":[163],"driving":[164],"showed":[169],"that":[170],"realized":[172],"agreed":[176],"well":[177],"results.":[180],"And":[181],"could":[184,205],"grasp":[185],"fish":[187],"egg":[188],"breaking.":[190],"Additionally,":[191],"made":[193],"consisting":[197],"three":[199],"This":[202],"also":[204],"manufactured":[207],"simple":[209],"process.":[211],"developed":[213],"works":[215],"opening":[216],"closing":[218],"motions":[219],"well.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":3}],"updated_date":"2026-03-02T06:13:33.250793","created_date":"2025-10-10T00:00:00"}
