{"id":"https://openalex.org/W2095843533","doi":"https://doi.org/10.1109/robot.2009.5152386","title":"Evaluation of pinching effort by a tendon-driven robot hand","display_name":"Evaluation of pinching effort by a tendon-driven robot hand","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2095843533","doi":"https://doi.org/10.1109/robot.2009.5152386","mag":"2095843533"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152386","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/A5029691577","display_name":"Atsutoshi Ikeda","orcid":"https://orcid.org/0000-0002-7380-4048"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"A. Ikeda","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, 630-0192 Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, 630-0192 Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072763017","display_name":"Yuichi Kurita","orcid":"https://orcid.org/0000-0002-7848-1460"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Kurita","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, 630-0192 Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, 630-0192 Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ogasawara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan","Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, 630-0192 Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, 630-0192 Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029691577"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.5458,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66055634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3437","last_page":"3442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"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/tendon","display_name":"Tendon","score":0.7379921674728394},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6212146878242493},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5836458206176758},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5275304317474365},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4937051236629486},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4916439652442932},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45304253697395325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44825291633605957},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.43497899174690247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35551154613494873},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34678536653518677},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3277483582496643},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2619186341762543},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.21608376502990723},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20103499293327332},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09070494771003723},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07795935869216919}],"concepts":[{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.7379921674728394},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6212146878242493},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5836458206176758},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5275304317474365},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4937051236629486},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4916439652442932},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45304253697395325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44825291633605957},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.43497899174690247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35551154613494873},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34678536653518677},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3277483582496643},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2619186341762543},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.21608376502990723},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20103499293327332},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09070494771003723},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07795935869216919},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152386","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":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1970225327","https://openalex.org/W1978962236","https://openalex.org/W2038046994","https://openalex.org/W2055739638","https://openalex.org/W2075943808","https://openalex.org/W2105777811","https://openalex.org/W2111236727","https://openalex.org/W2118799877","https://openalex.org/W2169508341"],"related_works":["https://openalex.org/W2045352797","https://openalex.org/W2280685604","https://openalex.org/W2106268159","https://openalex.org/W2036845782","https://openalex.org/W4200326729","https://openalex.org/W2770783682","https://openalex.org/W202540107","https://openalex.org/W4200089920","https://openalex.org/W2162394694","https://openalex.org/W1988273910"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"focus":[4],"on":[5],"the":[6,17,20,26,29,33,48,72,93,103,111,124,138,144,156,163],"hand":[7,81,87,114],"posture":[8,142],"when":[9],"a":[10,62,78,85,99,130],"human":[11,52],"subject":[12,27],"pinches":[13],"an":[14],"object,":[15],"and":[16,28,42,92,143],"correlation":[18],"between":[19],"results":[21,55,108,136,154],"of":[22,32,51,74,123,140,158],"sensory":[23],"evaluation":[24,161],"by":[25],"tendon":[30,149],"force":[31,44],"subject's":[34],"fingers":[35],"are":[36,45,69,96],"investigated.":[37],"Surface":[38],"electromyogram":[39],"(surface":[40],"EMG)":[41],"pinching":[43,49,61,100,120,125],"measured":[46],"during":[47],"motion":[50,126],"subjects.":[53],"Experimental":[54,107],"show":[56,109,137],"that":[57,110],"subjects":[58],"feel":[59],"comfortable":[60],"60":[63,75],"[mm]":[64],"cylinder.":[65],"The":[66,89,134],"surface":[67,90],"EMGs":[68,91],"lower":[70],"in":[71,98,147],"vicinity":[73],"[mm].":[76],"Furthermore,":[77],"tendon-driven":[79,104,112,164],"robot":[80,105,113,165],"is":[82,115,127],"developed":[83],"as":[84],"sensing":[86],"prototype.":[88],"motor":[94],"torque":[95],"compared":[97],"experiment":[101],"using":[102,129,162],"hand.":[106,166],"effective":[116],"for":[117],"quantitatively":[118],"evaluating":[119],"effort.":[121],"Simulation":[122],"conducted":[128],"simple":[131],"finger":[132,141],"model.":[133],"simulation":[135],"importance":[139],"moment":[145],"arm":[146],"estimating":[148],"force.":[150],"Taken":[151],"together,":[152],"these":[153],"demonstrate":[155],"possibility":[157],"conducting":[159],"quantitative":[160]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}