{"id":"https://openalex.org/W2943059958","doi":"https://doi.org/10.1109/sii.2019.8700341","title":"Development of Three-Fingered End-Effector Using Pneumatic Soft Actuators","display_name":"Development of Three-Fingered End-Effector Using Pneumatic Soft Actuators","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2943059958","doi":"https://doi.org/10.1109/sii.2019.8700341","mag":"2943059958"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2019.8700341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","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/A5028246612","display_name":"Shunya Ohkura","orcid":null},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shunya Ohkura","raw_affiliation_strings":["Department of Biomechanics, Tokyo Medical and Dental University"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Tokyo Medical and Dental University","institution_ids":["https://openalex.org/I125602781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034856309","display_name":"Daisuke Shinohira","orcid":null},"institutions":[{"id":"https://openalex.org/I197507943","display_name":"Sumitomo Heavy Industries (Japan)","ror":"https://ror.org/03yskk486","country_code":"JP","type":"company","lineage":["https://openalex.org/I197507943"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Shinohira","raw_affiliation_strings":["Mechatronics Division, Sumitomo Heavy Industries, Ltd"],"affiliations":[{"raw_affiliation_string":"Mechatronics Division, Sumitomo Heavy Industries, Ltd","institution_ids":["https://openalex.org/I197507943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101546282","display_name":"Tatsuya Yoshida","orcid":"https://orcid.org/0009-0004-4807-6650"},"institutions":[{"id":"https://openalex.org/I197507943","display_name":"Sumitomo Heavy Industries (Japan)","ror":"https://ror.org/03yskk486","country_code":"JP","type":"company","lineage":["https://openalex.org/I197507943"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Yoshida","raw_affiliation_strings":["Mechatronics Division, Sumitomo Heavy Industries, Ltd"],"affiliations":[{"raw_affiliation_string":"Mechatronics Division, Sumitomo Heavy Industries, Ltd","institution_ids":["https://openalex.org/I197507943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060719426","display_name":"Takahiro Kanno","orcid":"https://orcid.org/0000-0003-0635-9084"},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Kanno","raw_affiliation_strings":["Department of Biomechanics, Tokyo Medical and Dental University"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Tokyo Medical and Dental University","institution_ids":["https://openalex.org/I125602781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016155662","display_name":"Tetsuro Miyazaki","orcid":"https://orcid.org/0000-0003-3677-2371"},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuro Miyazaki","raw_affiliation_strings":["Department of Biomechanics, Tokyo Medical and Dental University"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Tokyo Medical and Dental University","institution_ids":["https://openalex.org/I125602781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022929676","display_name":"Toshihiro Kawase","orcid":"https://orcid.org/0000-0001-9766-1726"},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshihiro Kawase","raw_affiliation_strings":["Department of Biomechanics, Tokyo Medical and Dental University"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Tokyo Medical and Dental University","institution_ids":["https://openalex.org/I125602781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084289055","display_name":"Kenji Kawashima","orcid":"https://orcid.org/0000-0002-0161-8270"},"institutions":[{"id":"https://openalex.org/I125602781","display_name":"Tokyo Medical and Dental University","ror":"https://ror.org/051k3eh31","country_code":"JP","type":"education","lineage":["https://openalex.org/I125602781"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Kawashima","raw_affiliation_strings":["Department of Biomechanics, Tokyo Medical and Dental University"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Tokyo Medical and Dental University","institution_ids":["https://openalex.org/I125602781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5028246612"],"corresponding_institution_ids":["https://openalex.org/I125602781"],"apc_list":null,"apc_paid":null,"fwci":0.299,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.54926597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"701","last_page":"706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9994000196456909,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9936000108718872,"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/robot-end-effector","display_name":"Robot end effector","score":0.8586803674697876},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7371677160263062},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6213827133178711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4473855495452881},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37417012453079224},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3244193196296692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2929890751838684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28090715408325195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19863846898078918}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.8586803674697876},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7371677160263062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6213827133178711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4473855495452881},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37417012453079224},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3244193196296692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2929890751838684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28090715408325195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19863846898078918}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii.2019.8700341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50585125","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100856015","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1976148143","https://openalex.org/W2023066650","https://openalex.org/W2080551943","https://openalex.org/W2080697625","https://openalex.org/W2155747683","https://openalex.org/W2417852104","https://openalex.org/W2624940943","https://openalex.org/W2767446929","https://openalex.org/W2896372285"],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W2080330449","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W2689884327"],"abstract_inverted_index":{"In":[0,59,91],"this":[1],"paper,":[2],"we":[3,93,125,172],"propose":[4,94],"a":[5,25,37,52,77,95,141,146],"three-fingered":[6],"end-effector":[7,15,42,177],"driven":[8],"by":[9,61],"pneumatic":[10],"soft":[11,64,81,115],"actuators.":[12],"The":[13],"proposed":[14,41,89,123,159,176],"has":[16],"three":[17,28,129],"thin":[18],"sticks":[19,35],"as":[20],"the":[21,34,40,48,57,63,71,84,88,105,109,113,119,122,128,148,153,158,175],"finger,":[22],"and":[23,140,157],"grips":[24],"food":[26,53,110,142],"with":[27,165],"points":[29],"to":[30,46,69,104,111,179],"achieve":[31,47],"force-closure.":[32],"Since":[33],"have":[36],"small":[38],"diameter,":[39],"will":[43],"be":[44],"able":[45],"safely":[49],"picking":[50],"from":[51,108],"basket":[54],"without":[55],"breaking":[56],"foods.":[58],"addition,":[60,92],"using":[62],"actuator,":[65],"it":[66],"is":[67],"possible":[68],"control":[70,134],"gripping":[72,143],"force":[73,102,138,161],"softly.":[74],"We":[75],"developed":[76],"curved":[78],"extension":[79],"type":[80,130,183],"actuator":[82],"for":[83],"rotation":[85],"motion":[86],"of":[87,121],"end-effector.":[90],"disturbance":[96],"observer":[97],"that":[98,174],"estimates":[99],"an":[100,132,136],"external":[101,137,160],"applied":[103],"stick":[106],"tip":[107],"realize":[112],"human-like":[114],"touch.":[116],"To":[117],"evaluate":[118],"performance":[120],"end-effector,":[124],"carried":[126],"out":[127],"experiments:":[131],"angle":[133],"test,":[135],"estimation,":[139],"test.":[144],"As":[145],"result,":[147],"measured":[149],"angles":[150],"sufficiently":[151],"tracked":[152],"given":[154],"target":[155],"trajectories,":[156],"estimation":[162],"was":[163],"effective":[164],"its":[166],"accuracy":[167],"about":[168],"0.1":[169],"N.":[170],"Finally,":[171],"confirmed":[173],"succeeded":[178],"grip":[180],"four":[181],"different":[182],"foods":[184],"stably.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
