{"id":"https://openalex.org/W3125701415","doi":"https://doi.org/10.1109/ssrr50563.2020.9292571","title":"A Modular, Accessible, Affordable Dexterity Test for Evaluating the Grasping and Manipulation Capabilities of Robotic Grippers and Hands","display_name":"A Modular, Accessible, Affordable Dexterity Test for Evaluating the Grasping and Manipulation Capabilities of Robotic Grippers and Hands","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3125701415","doi":"https://doi.org/10.1109/ssrr50563.2020.9292571","mag":"3125701415"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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":null,"display_name":"Nathan Elangovan","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":true,"raw_author_name":"Nathan Elangovan","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,New Zealand","New Dexterity research group, The University of Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065794603","display_name":"Geng Gao","orcid":"https://orcid.org/0000-0002-8814-2665"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Geng Gao","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,New Zealand","New Dexterity research group, The University of Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102194740","display_name":"Che-Ming Chang","orcid":"https://orcid.org/0009-0006-9192-0217"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Che-Ming Chang","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,New Zealand","New Dexterity research group, The University of Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,New Zealand","New Dexterity research group, The University of Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"New Dexterity research group, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":0.5951,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69042841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"304","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9646000266075134,"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":0.960099995136261,"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/grippers","display_name":"Grippers","score":0.8484973907470703},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.807499885559082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6530443429946899},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6243349313735962},{"id":"https://openalex.org/keywords/test","display_name":"Test (biology)","score":0.541084885597229},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5391590595245361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5285507440567017},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46590715646743774},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4475190043449402},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39310604333877563},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3210674226284027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24196749925613403},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11771869659423828}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8484973907470703},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.807499885559082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6530443429946899},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6243349313735962},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.541084885597229},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5391590595245361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5285507440567017},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46590715646743774},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4475190043449402},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39310604333877563},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3210674226284027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24196749925613403},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11771869659423828},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1561988643","https://openalex.org/W1806263934","https://openalex.org/W1976599924","https://openalex.org/W1985669917","https://openalex.org/W1998668611","https://openalex.org/W2002236162","https://openalex.org/W2003330902","https://openalex.org/W2012548612","https://openalex.org/W2016254675","https://openalex.org/W2022143749","https://openalex.org/W2026342893","https://openalex.org/W2031835394","https://openalex.org/W2095108049","https://openalex.org/W2113347439","https://openalex.org/W2126701792","https://openalex.org/W2150468603","https://openalex.org/W2161951267","https://openalex.org/W2167340365","https://openalex.org/W2168683547","https://openalex.org/W2494396666","https://openalex.org/W2564447680","https://openalex.org/W2612203383","https://openalex.org/W2738994407","https://openalex.org/W2789946527","https://openalex.org/W2899059606","https://openalex.org/W2952768114","https://openalex.org/W2968585391","https://openalex.org/W3003356003","https://openalex.org/W3029539653","https://openalex.org/W3099587965","https://openalex.org/W3103780890","https://openalex.org/W3169788592","https://openalex.org/W4288102901","https://openalex.org/W4288319858","https://openalex.org/W6755421158","https://openalex.org/W6767997047","https://openalex.org/W6796716388"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W2138294832","https://openalex.org/W1976950967","https://openalex.org/W1640559846","https://openalex.org/W2076754931","https://openalex.org/W2097995569","https://openalex.org/W1564079087","https://openalex.org/W1516164006"],"abstract_inverted_index":{"Despite":[0],"the":[1,7,27,38,66,77,84,95,107,160,164,168],"plethora":[2],"of":[3,11,29,71,83,94,109,125,162],"studies":[4],"focusing":[5],"on":[6,37],"design":[8,97],"and":[9,15,68,92,130],"development":[10],"dexterous":[12],"robotic":[13,72,165,169],"grippers":[14],"hands,":[16],"researchers":[17],"have":[18],"not":[19],"been":[20],"able":[21],"to":[22,26,87,135,145],"quantify":[23],"dexterity":[24,36,111,120,137,155],"due":[25],"lack":[28],"well":[30],"defined":[31],"measures":[32],"or":[33,167],"tests.":[34,49],"Human":[35],"other":[39],"hand,":[40],"is":[41,52],"generally":[42],"measured":[43],"by":[44],"employing":[45],"various":[46,89],"hand":[47],"function":[48],"This":[50],"work":[51],"inspired":[53],"from":[54,140],"these":[55],"tests,":[56],"proposing":[57],"a":[58,81,122,136],"new":[59],"modular,":[60],"affordable,":[61],"accessible":[62],"test":[63,78,100,118],"for":[64,80,115],"evaluating":[65],"grasping":[67],"manipulation":[69],"capabilities":[70],"end":[73],"effectors.":[74],"More":[75],"precisely,":[76],"allows":[79],"quantification":[82],"end-effectors'":[85],"ability":[86],"perform":[88],"tasks":[90],"effectively":[91],"irrespectively":[93],"individual":[96],"parameters.":[98],"The":[99,117],"rig":[101],"proposed":[102],"in":[103],"this":[104],"study":[105],"combines":[106],"features":[108],"multiple":[110],"tests":[112],"originally":[113],"developed":[114],"humans.":[116],"quantifies":[119],"through":[121],"weighted":[123],"sum":[124],"task":[126],"execution":[127],"success,":[128],"speed,":[129],"accuracy":[131],"components":[132],"that":[133,154],"results":[134],"score":[138],"ranging":[139],"0":[141],"(simplistic,":[142],"nondexterous":[143],"system)":[144],"1":[146],"(human-like":[147],"system).":[148],"It":[149],"should":[150],"also":[151],"be":[152,157],"noted":[153],"can":[156],"evaluated":[158],"assessing":[159],"efficiency":[161],"either":[163],"hardware":[166],"perception":[170],"system.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}