{"id":"https://openalex.org/W2902166426","doi":"https://doi.org/10.1109/tro.2018.2880094","title":"Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction","display_name":"Tunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction","publication_year":2018,"publication_date":"2018-11-30","ids":{"openalex":"https://openalex.org/W2902166426","doi":"https://doi.org/10.1109/tro.2018.2880094","mag":"2902166426"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2880094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2880094","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5021360260","display_name":"Hannah S. Stuart","orcid":"https://orcid.org/0000-0003-4628-6561"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hannah S. Stuart","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4628-6561","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398998","display_name":"Shiquan Wang","orcid":"https://orcid.org/0000-0003-3245-4579"},"institutions":[{"id":"https://openalex.org/I174947986","display_name":"Flex (United States)","ror":"https://ror.org/03q7jt003","country_code":"US","type":"company","lineage":["https://openalex.org/I174947986"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiquan Wang","raw_affiliation_strings":["Flexiv Robotics Ltd., Santa Clara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flexiv Robotics Ltd., Santa Clara, CA, USA","institution_ids":["https://openalex.org/I174947986"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R. Cutkosky","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4730-0900","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8733,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.86822041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"2","first_page":"295","last_page":"306"},"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962000250816345,"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":0.7783636450767517},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.722119927406311},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.6538127660751343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48121097683906555},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4531247913837433},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.44134825468063354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43085044622421265},{"id":"https://openalex.org/keywords/volumetric-flow-rate","display_name":"Volumetric flow rate","score":0.4237106740474701},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.4234706163406372},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3206046223640442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2937591075897217},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2633107006549835},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13396811485290527}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7783636450767517},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.722119927406311},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.6538127660751343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48121097683906555},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4531247913837433},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.44134825468063354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43085044622421265},{"id":"https://openalex.org/C172120300","wikidata":"https://www.wikidata.org/wiki/Q1134348","display_name":"Volumetric flow rate","level":2,"score":0.4237106740474701},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.4234706163406372},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3206046223640442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2937591075897217},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2633107006549835},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13396811485290527},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2880094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2880094","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6"}],"awards":[{"id":"https://openalex.org/G4130961295","display_name":null,"funder_award_id":"DGE-114747","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5933647280","display_name":null,"funder_award_id":"SPO 103760","funder_id":"https://openalex.org/F4320322320","funder_display_name":"King Abdullah University of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322320","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1551535340","https://openalex.org/W1586292627","https://openalex.org/W1727070462","https://openalex.org/W1970745880","https://openalex.org/W1975033238","https://openalex.org/W1976915699","https://openalex.org/W1977969230","https://openalex.org/W1992020923","https://openalex.org/W1998278092","https://openalex.org/W2004220507","https://openalex.org/W2009934861","https://openalex.org/W2013467411","https://openalex.org/W2036281396","https://openalex.org/W2038447902","https://openalex.org/W2062587954","https://openalex.org/W2063316452","https://openalex.org/W2064878003","https://openalex.org/W2078568084","https://openalex.org/W2086990654","https://openalex.org/W2094624732","https://openalex.org/W2127581426","https://openalex.org/W2129476164","https://openalex.org/W2138918534","https://openalex.org/W2155337985","https://openalex.org/W2164575107","https://openalex.org/W2165302798","https://openalex.org/W2212932033","https://openalex.org/W2296718990","https://openalex.org/W2461113635","https://openalex.org/W2482325571","https://openalex.org/W2486144890","https://openalex.org/W2529170537","https://openalex.org/W2533256670","https://openalex.org/W2551865091","https://openalex.org/W2593610497","https://openalex.org/W2772679390","https://openalex.org/W2793261321","https://openalex.org/W4210605065","https://openalex.org/W4210660029","https://openalex.org/W6637534934","https://openalex.org/W6722645648","https://openalex.org/W6808503417"],"related_works":["https://openalex.org/W2095492957","https://openalex.org/W4312555732","https://openalex.org/W2892546005","https://openalex.org/W2567010246","https://openalex.org/W2745924412","https://openalex.org/W4237408708","https://openalex.org/W2052350261","https://openalex.org/W127711702","https://openalex.org/W2010352328","https://openalex.org/W3107478415"],"abstract_inverted_index":{"Gentle":[0,154],"suction":[1,47,133,155],"flow":[2,40,120,134,156],"at":[3,34],"the":[4,16,35,91,117,142],"fingertips":[5],"of":[6,18,86,119,131,144],"a":[7,26,45,75,112],"compliant":[8],"hand":[9],"can":[10],"enhance":[11],"object":[12,123],"acquisition":[13,92],"and":[14,29,61,84,89,122,126,149,161,169],"increase":[15],"robustness":[17],"pinch":[19],"grasps":[20],"under":[21,98,172],"water.":[22,99,173],"The":[23,38,56],"approach":[24],"adds":[25],"low-pressure":[27],"pump":[28],"flexible":[30],"tubes":[31],"that":[32,129,166],"terminate":[33],"distal":[36],"phalanges.":[37],"light":[39],"rate":[41,121],"does":[42,50,71],"not":[43,72],"create":[44],"powerful":[46],"force,":[48],"nor":[49],"it":[51,70],"stir":[52],"up":[53],"significant":[54],"sediment.":[55],"method":[57],"works":[58],"on":[59,141],"porous":[60],"rough":[62],"objects":[63,68,97,140,171],"in":[64,111],"addition":[65,163],"to":[66,115],"smooth":[67],"as":[69],"require":[73],"forming":[74],"seal.":[76],"It":[77],"changes":[78],"contact":[79],"conditions":[80],"-":[81,88],"normal":[82],"force":[83,106],"coefficient":[85],"friction":[87],"enlarges":[90],"region":[93],"when":[94,150],"grasping":[95],"free":[96],"A":[100],"simple":[101],"hydrodynamic":[102],"model":[103],"matches":[104],"empirical":[105],"measurements":[107],"adequately":[108],"for":[109,138,164],"incorporation":[110],"dynamic":[113],"simulation":[114],"explore":[116],"effects":[118,130],"mass.":[124],"Simulations":[125],"experiments":[127],"show":[128],"fingertip":[132],"are":[135],"most":[136],"pronounced":[137],"acquiring":[139],"order":[143],"1":[145],"kg":[146],"or":[147],"less":[148],"pinching":[151],"large":[152],"objects.":[153],"is":[157],"an":[158],"effective,":[159],"versatile,":[160],"convenient":[162],"robots":[165],"must":[167],"grasp":[168],"manipulate":[170]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}