{"id":"https://openalex.org/W2092476666","doi":"https://doi.org/10.1109/robot.2010.5509899","title":"Design of tendon-driven robotic fingers: Modeling and control issues","display_name":"Design of tendon-driven robotic fingers: Modeling and control issues","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2092476666","doi":"https://doi.org/10.1109/robot.2010.5509899","mag":"2092476666"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3434567","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038002992","display_name":"Gianni Borghesan","orcid":"https://orcid.org/0000-0002-6023-1498"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"G Borghesan","raw_affiliation_strings":["DEIS-Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Bologna, Italy","DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Viale Risorgimento 2, 40136, Italy"],"affiliations":[{"raw_affiliation_string":"DEIS-Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Viale Risorgimento 2, 40136, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G Palli","raw_affiliation_strings":["DEIS-Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Bologna, Italy","DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Viale Risorgimento 2, 40136, Italy"],"affiliations":[{"raw_affiliation_string":"DEIS-Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Viale Risorgimento 2, 40136, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082136401","display_name":"Claudio Melchiorri","orcid":"https://orcid.org/0000-0002-8475-6782"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C Melchiorri","raw_affiliation_strings":["DEIS-Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Bologna, Italy","DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Viale Risorgimento 2, 40136, Italy"],"affiliations":[{"raw_affiliation_string":"DEIS-Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"DEIS - Dipartimento di Elettronica, Informatica e Sistemistica, Universit\u00e0 di Bologna, Viale Risorgimento 2, 40136, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038002992"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":8.6713,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.97411261,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"793","last_page":"798"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9962000250816345,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9902999997138977,"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/process","display_name":"Process (computing)","score":0.6192077398300171},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6099269390106201},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.56592857837677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5088582038879395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5042976140975952},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.42523691058158875},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41900891065597534},{"id":"https://openalex.org/keywords/solid-modeling","display_name":"Solid modeling","score":0.417660653591156},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3702741265296936},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35754626989364624}],"concepts":[{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6192077398300171},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6099269390106201},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.56592857837677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5088582038879395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5042976140975952},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.42523691058158875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41900891065597534},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.417660653591156},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3702741265296936},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35754626989364624},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/101358","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/101358","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3434567","is_oa":true,"landing_page_url":"https://zenodo.org/record/3434567","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3434567","is_oa":true,"landing_page_url":"https://zenodo.org/record/3434567","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W216064520","https://openalex.org/W1560270123","https://openalex.org/W1881109849","https://openalex.org/W1975596043","https://openalex.org/W1988273910","https://openalex.org/W1997650413","https://openalex.org/W2002433211","https://openalex.org/W2068793240","https://openalex.org/W2126701792","https://openalex.org/W2130735781","https://openalex.org/W2138375695","https://openalex.org/W2150246196","https://openalex.org/W2151420688","https://openalex.org/W2155840082","https://openalex.org/W2159717066","https://openalex.org/W2164068699","https://openalex.org/W2166271005","https://openalex.org/W4210660029","https://openalex.org/W6644192020","https://openalex.org/W6651039665"],"related_works":["https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W2769996735","https://openalex.org/W4312353617","https://openalex.org/W4280652955","https://openalex.org/W2260963831","https://openalex.org/W4235249401","https://openalex.org/W2331305369","https://openalex.org/W4319224835","https://openalex.org/W2756406131"],"abstract_inverted_index":{"This":[0],"paper":[1],"reports":[2],"the":[3,8,18,47,77,84,96,102,105,127,165],"modeling":[4],"activities":[5],"related":[6],"to":[7,55,67,118,161],"development":[9],"of":[10,21,36,46,76,88,100,107,114,122,131],"an":[11,152],"innovative":[12],"tendon-driven":[13],"robotic":[14,78,123],"finger,":[15,97],"designed":[16],"as":[17],"fundamental":[19],"element":[20],"a":[22,38,43,112,138],"new":[23],"biologically-inspired":[24],"artificial":[25],"hand.":[26],"The":[27],"finger":[28,79,166],"is":[29,157],"realized":[30],"in":[31,129,141,159],"plastic":[32],"material":[33],"by":[34],"means":[35],"3D-printing,":[37,51],"production":[39],"process":[40],"that":[41,59,125],"allows":[42],"remarkable":[44],"simplification":[45],"mechanical":[48],"design.":[49],"Through":[50],"we":[52],"were":[53],"able":[54],"easily":[56],"implement":[57],"solutions":[58],"could":[60],"be":[61],"very":[62],"difficult,":[63],"if":[64],"not":[65,86],"impossible,":[66],"obtain":[68],"with":[69,83],"conventional":[70],"manufacturing.":[71],"A":[72],"detailed":[73],"simulation":[74],"model":[75,156],"has":[80,137],"been":[81],"developed":[82],"aim":[85],"only":[87],"designing":[89],"and":[90,104,120,134,147,163],"testing":[91],"suitable":[92],"control":[93],"strategies":[94],"for":[95],"but":[98],"also":[99],"investigating":[101],"benefits":[103],"flaws":[106],"particular":[108],"design":[109,119],"solutions.":[110],"As":[111],"matter":[113],"fact,":[115],"this":[116,150],"approach":[117],"realization":[121],"fingers,":[124],"fulfills":[126],"requirements":[128],"terms":[130],"compactness,":[132],"integration":[133],"simplified":[135],"assembly,":[136],"significant":[139],"drawback":[140],"frictional":[142],"phenomena":[143],"on":[144],"both":[145],"tendons":[146],"joints.":[148],"For":[149],"reason,":[151],"adapted":[153],"LuGre":[154],"friction":[155],"proposed":[158],"order":[160],"simulate":[162],"study":[164],"behavior.":[167]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}