{"id":"https://openalex.org/W3121448421","doi":"https://doi.org/10.1109/ssrr50563.2020.9292622","title":"A Hybrid, Encompassing, Three-Fingered Robotic Gripper Combining Pneumatic Telescopic Mechanisms and Rigid Claws","display_name":"A Hybrid, Encompassing, Three-Fingered Robotic Gripper Combining Pneumatic Telescopic Mechanisms and Rigid Claws","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3121448421","doi":"https://doi.org/10.1109/ssrr50563.2020.9292622","mag":"3121448421"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292622","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":true,"oa_status":"green","oa_url":"https://eprints.gla.ac.uk/325486/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086530904","display_name":"Lucas Gerez","orcid":"https://orcid.org/0000-0002-2997-4672"},"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":"Lucas Gerez","raw_affiliation_strings":["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"]}]},{"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"],"affiliations":[{"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"],"affiliations":[{"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":3,"corresponding_author_ids":["https://openalex.org/A5086530904"],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":0.3437,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.56196825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"142","last_page":"147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"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/grasp","display_name":"GRASP","score":0.8517079949378967},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.768463134765625},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7382447123527527},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6356046199798584},{"id":"https://openalex.org/keywords/inflatable","display_name":"Inflatable","score":0.618824303150177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6035496592521667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4747011065483093},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.42895346879959106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27738848328590393},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15641182661056519}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8517079949378967},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.768463134765625},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7382447123527527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6356046199798584},{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.618824303150177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6035496592521667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4747011065483093},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.42895346879959106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27738848328590393},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15641182661056519},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292622","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"},{"id":"pmh:oai:eprints.gla.ac.uk:325486","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/325486/","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"}],"best_oa_location":{"id":"pmh:oai:eprints.gla.ac.uk:325486","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/325486/","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1527981989","https://openalex.org/W1826399803","https://openalex.org/W1963559629","https://openalex.org/W1971688004","https://openalex.org/W2048058874","https://openalex.org/W2079574144","https://openalex.org/W2103761676","https://openalex.org/W2109163007","https://openalex.org/W2149165496","https://openalex.org/W2162556257","https://openalex.org/W2432137114","https://openalex.org/W2512216316","https://openalex.org/W2556078315","https://openalex.org/W2593610497","https://openalex.org/W2625075026","https://openalex.org/W2625731136","https://openalex.org/W2771465938","https://openalex.org/W2783420965","https://openalex.org/W2943200793","https://openalex.org/W2952625826","https://openalex.org/W2981497040","https://openalex.org/W3094338872","https://openalex.org/W6630201400","https://openalex.org/W6675634793"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W3035867307","https://openalex.org/W2157487448","https://openalex.org/W2613999385","https://openalex.org/W2387707337","https://openalex.org/W3190405850","https://openalex.org/W2078568084","https://openalex.org/W4200004409"],"abstract_inverted_index":{"Unstructured":[0],"and":[1,9,38,50,57,64,83,107,146,156,160],"uncertain":[2],"environments":[3],"that":[4,15,86,102,166],"are":[5,24,48],"encountered":[6],"in":[7,26,45],"search":[8],"rescue":[10],"applications,":[11],"require":[12],"complex":[13],"interactions":[14,89],"involve":[16],"a":[17,98,127,172],"wide":[18],"range":[19],"of":[20,32,34,80,121,144,174,181],"grasps.":[21],"These":[22],"grasps":[23],"needed":[25],"order":[27],"to":[28,61,117,152,178],"handle":[29],"unpredictable":[30],"types":[31],"objects":[33,175],"various":[35],"shapes,":[36],"stiffnesses,":[37],"dimensions.":[39],"Traditionally,":[40],"the":[41,68,78,119,123,150,167],"robotic":[42,100],"end-effectors":[43],"used":[44],"such":[46],"situations":[47],"rigid":[49,108,115,147],"their":[51],"operation":[52],"requires":[53],"sophisticated":[54],"sensing":[55],"elements":[56],"complicated":[58],"control":[59],"algorithms":[60],"manipulate":[62],"delicate":[63],"fragile":[65],"objects.":[66,140,162],"Over":[67],"last":[69],"decade,":[70],"considerable":[71],"research":[72],"effort":[73],"has":[74],"been":[75],"put":[76],"into":[77],"development":[79],"adaptive,":[81],"underactuated,":[82],"soft":[84,137,145],"robots":[85],"facilitate":[87],"robust":[88],"with":[90,139],"dynamic":[91],"environments.":[92],"In":[93],"this":[94],"paper,":[95],"we":[96],"propose":[97],"three-fingered":[99],"gripper":[101,111,151,168],"combines":[103],"pneumatic":[104],"telescopic":[105,134],"mechanisms":[106],"claws.":[109],"The":[110,163],"uses":[112],"three":[113,132],"large,":[114],"fingers":[116,135],"accomplish":[118],"execution":[120],"all":[122],"tasks":[124],"required":[125],"by":[126],"traditional":[128],"robot":[129],"gripper,":[130],"while":[131],"inflatable,":[133],"provide":[136],"interaction":[138],"This":[141],"synergistic":[142],"combination":[143],"structures":[148],"allows":[149],"cage":[153],"/":[154],"trap":[155],"firmly":[157],"hold":[158],"heavy":[159],"irregular":[161],"experiments":[164],"demonstrate":[165],"can":[169],"successfully":[170],"grasp":[171],"plethora":[173],"exerting":[176],"up":[177],"60":[179],"N":[180],"clench":[182],"force.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}
