{"id":"https://openalex.org/W4405709970","doi":"https://doi.org/10.1109/robot61475.2024.10797355","title":"Improving Grasping Performance of Underactuated Two Finger Robotic Hands Using Variable Stiffness","display_name":"Improving Grasping Performance of Underactuated Two Finger Robotic Hands Using Variable Stiffness","publication_year":2024,"publication_date":"2024-11-06","ids":{"openalex":"https://openalex.org/W4405709970","doi":"https://doi.org/10.1109/robot61475.2024.10797355"},"language":"en","primary_location":{"id":"doi:10.1109/robot61475.2024.10797355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot61475.2024.10797355","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 7th Iberian Robotics Conference (ROBOT)","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/A5115614873","display_name":"Dylan Denizon","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Dylan Denizon","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030-290"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030-290","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053156431","display_name":"Sedat Dogru","orcid":"https://orcid.org/0000-0002-6696-9362"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Sedat Dogru","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030-290"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030-290","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040524564","display_name":"Lino Marques","orcid":"https://orcid.org/0000-0002-9396-986X"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lino Marques","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030-290"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030-290","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5115614873"],"corresponding_institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73239838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9922000169754028,"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":0.9922000169754028,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9904999732971191,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9700000286102295,"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/underactuation","display_name":"Underactuation","score":0.8671876192092896},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6360476016998291},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6222488880157471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6058728098869324},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5296233296394348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.396228551864624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35176020860671997},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34230828285217285},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33585354685783386},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2208191156387329},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2191334366798401},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10918992757797241},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09723883867263794},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0633346438407898}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8671876192092896},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6360476016998291},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6222488880157471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6058728098869324},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5296233296394348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.396228551864624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35176020860671997},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34230828285217285},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33585354685783386},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2208191156387329},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2191334366798401},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10918992757797241},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09723883867263794},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0633346438407898}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot61475.2024.10797355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot61475.2024.10797355","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 7th Iberian Robotics Conference (ROBOT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6200000047683716,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1488578987","https://openalex.org/W1570792896","https://openalex.org/W2077152668","https://openalex.org/W2103862045","https://openalex.org/W2126105956","https://openalex.org/W2129908076","https://openalex.org/W2158782408","https://openalex.org/W2207371276","https://openalex.org/W2626557286","https://openalex.org/W2738339398","https://openalex.org/W2761143270","https://openalex.org/W2857521408","https://openalex.org/W2956309146","https://openalex.org/W2979360055","https://openalex.org/W2989597069","https://openalex.org/W3120178475","https://openalex.org/W3148946639","https://openalex.org/W3165325652","https://openalex.org/W4200123921","https://openalex.org/W4205096832","https://openalex.org/W4210853116","https://openalex.org/W4292421577","https://openalex.org/W4294845559","https://openalex.org/W4376605636","https://openalex.org/W4389667364","https://openalex.org/W6781780510","https://openalex.org/W6875949126"],"related_works":["https://openalex.org/W2509658230","https://openalex.org/W2372596258","https://openalex.org/W2295602476","https://openalex.org/W86391281","https://openalex.org/W4313043940","https://openalex.org/W2963669118","https://openalex.org/W2025612888","https://openalex.org/W4300197462","https://openalex.org/W2952728690","https://openalex.org/W2618876269"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"aim":[4],"to":[5,28,65,103,116],"improve":[6],"the":[7,22,25,34,42,83,90,99,105,110,118],"performance":[8],"of":[9,24,33,69,79,82,89,112],"an":[10],"underactuated":[11],"anthropomorphic":[12],"tendon":[13],"driven":[14],"robotic":[15],"gripper":[16,43],"with":[17,50,71,121],"two":[18,106],"fingers":[19,84],"by":[20],"allowing":[21],"stiffness":[23,88,101,114],"finger":[26],"joints":[27],"change":[29],"as":[30,75,85,87],"a":[31,45,51,58,67],"function":[32],"object":[35],"shape.":[36],"An":[37],"optimization":[38,93],"problem":[39],"requiring":[40],"that":[41,109],"apply":[44],"constant":[46],"total":[47],"contact":[48],"force":[49,54],"minimum":[52],"actuation":[53,123],"was":[55,95],"formulated":[56],"using":[57],"Genetic":[59],"Algorithm":[60],"(GA)":[61],"approach":[62],"in":[63],"order":[64],"obtain":[66],"set":[68],"designs":[70],"geometrical":[72],"parameters":[73],"such":[74],"position":[76],"and":[77],"size":[78],"various":[80],"elements":[81],"well":[86],"joints.":[91],"The":[92],"process":[94],"also":[96],"repeated":[97],"for":[98],"fixed":[100],"case":[102],"compare":[104],"approaches,":[107],"demonstrating":[108],"addition":[111],"variable":[113],"allowed":[115],"achieve":[117],"same":[119],"grasp":[120],"less":[122],"force.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
