{"id":"https://openalex.org/W4226301680","doi":"https://doi.org/10.1109/tro.2022.3156806","title":"<i>RBO Hand 3</i>: A Platform for Soft Dexterous Manipulation","display_name":"<i>RBO Hand 3</i>: A Platform for Soft Dexterous Manipulation","publication_year":2022,"publication_date":"2022-04-22","ids":{"openalex":"https://openalex.org/W4226301680","doi":"https://doi.org/10.1109/tro.2022.3156806"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3156806","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2022.3156806","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9970416/09761831.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/9970416/09761831.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034225146","display_name":"Steffen Puhlmann","orcid":"https://orcid.org/0000-0002-3821-2127"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Puhlmann","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit&#x00E4;t Berlin, Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3821-2127","affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit&#x00E4;t Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017294641","display_name":"Jason Harris","orcid":"https://orcid.org/0000-0001-8951-9877"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jason Harris","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit&#x00E4;t Berlin, Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8951-9877","affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit&#x00E4;t Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039143538","display_name":"Oliver Brock","orcid":"https://orcid.org/0000-0002-3719-7754"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Brock","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit&#x00E4;t Berlin, Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3719-7754","affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit&#x00E4;t Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":7.5141,"has_fulltext":true,"cited_by_count":123,"citation_normalized_percentile":{"value":0.98668455,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"38","issue":"6","first_page":"3434","last_page":"3449"},"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":0.9988999962806702,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5382518768310547},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5253797769546509},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.5119958519935608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4255949854850769},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15594562888145447},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.14160552620887756}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5382518768310547},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5253797769546509},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.5119958519935608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4255949854850769},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15594562888145447},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.14160552620887756},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3156806","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2022.3156806","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9970416/09761831.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tro.2022.3156806","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2022.3156806","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9970416/09761831.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1508004878","display_name":null,"funder_award_id":"SPP2100","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G1535130713","display_name":null,"funder_award_id":"H2020-ICT","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2742192870","display_name":null,"funder_award_id":"SOMA, H2020-ICT-645599","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3221473735","display_name":null,"funder_award_id":"EXC 2002/1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4977854409","display_name":null,"funder_award_id":"645599","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G605766574","display_name":"CoDesign von sensorbasierter Regelung und weicher Morphologie f\u00fcr Inhandmanipulation","funder_award_id":"405033880","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6510858048","display_name":"EXC 2002: Science of Intelligence (SCIoI)","funder_award_id":"390523135","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6532450817","display_name":null,"funder_award_id":"EXC 2002","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G746955146","display_name":null,"funder_award_id":"H2020-ICT-645599","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G7911672817","display_name":"Soft-bodied intelligence for  Manipulation","funder_award_id":"645599","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8016130390","display_name":null,"funder_award_id":"H2020-ICT-645599","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226301680.pdf","grobid_xml":"https://content.openalex.org/works/W4226301680.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W177112140","https://openalex.org/W1542761027","https://openalex.org/W1554837758","https://openalex.org/W1589019727","https://openalex.org/W1888892744","https://openalex.org/W1969583232","https://openalex.org/W1971688004","https://openalex.org/W1978137841","https://openalex.org/W1984376316","https://openalex.org/W2022430352","https://openalex.org/W2026640515","https://openalex.org/W2038929402","https://openalex.org/W2063149136","https://openalex.org/W2134167019","https://openalex.org/W2134805236","https://openalex.org/W2145945608","https://openalex.org/W2151968342","https://openalex.org/W2155337985","https://openalex.org/W2162556257","https://openalex.org/W2164575107","https://openalex.org/W2165542916","https://openalex.org/W2172082560","https://openalex.org/W2282481780","https://openalex.org/W2296718990","https://openalex.org/W2296944518","https://openalex.org/W2512216316","https://openalex.org/W2551680314","https://openalex.org/W2566038826","https://openalex.org/W2566261308","https://openalex.org/W2583494560","https://openalex.org/W2736652053","https://openalex.org/W2773304397","https://openalex.org/W2784648116","https://openalex.org/W2807254784","https://openalex.org/W2908762968","https://openalex.org/W2909176668","https://openalex.org/W2910163509","https://openalex.org/W2920952067","https://openalex.org/W2943200793","https://openalex.org/W2964507111","https://openalex.org/W2969028243","https://openalex.org/W2980992015","https://openalex.org/W2990747716","https://openalex.org/W2999325808","https://openalex.org/W3008891181","https://openalex.org/W3010777190","https://openalex.org/W3010867985","https://openalex.org/W3040887933","https://openalex.org/W3082113136","https://openalex.org/W3127112000","https://openalex.org/W3130962016","https://openalex.org/W3146546164","https://openalex.org/W3174167970","https://openalex.org/W3212741141","https://openalex.org/W4286856912","https://openalex.org/W6644942589","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2024231062","https://openalex.org/W2914514113","https://openalex.org/W4390996027","https://openalex.org/W2416243481","https://openalex.org/W3213857688","https://openalex.org/W2039797512","https://openalex.org/W2054797264","https://openalex.org/W2125232430"],"abstract_inverted_index":{"In":[0,104],"this":[1,105],"article,":[2,106],"we":[3,107],"present":[4],"theRBO":[5,140],"Hand":[6,21,79,141],"3,":[7],"a":[8,40,75,88],"highly":[9],"capable":[10],"and":[11,36,69,97,125,145,183],"versatile":[12],"anthropomorphic":[13],"soft":[14],"hand":[15,148],"based":[16,114],"on":[17,115],"pneumatic":[18],"actuation.":[19],"TheRBO":[20,78],"3is":[22],"designed":[23],"to":[24,28,37,100,153,166,177,184],"enable":[25],"dexterous":[26,89,186],"manipulation,":[27],"facilitate":[29],"transfer":[30],"of":[31,57,65,84,129,139,172],"insights":[32,126],"about":[33,122,127],"human":[34,67,123,180],"dexterity,":[35],"serve":[38],"as":[39],"robust":[41,72],"research":[42],"platform":[43],"for":[44,163],"extensive":[45],"real-world":[46],"experiments.":[47],"It":[48],"achieves":[49],"these":[50,143],"design":[51,110,137],"goals":[52,144],"by":[53,70,149],"combining":[54,71],"many":[55],"degrees":[56,83],"actuation":[58],"with":[59,117],"intrinsic":[60],"compliance,":[61],"replicating":[62],"relevant":[63],"functioning":[64],"the":[66,98,102,109,118,136,147,155,160,173],"hand,":[68],"components":[73],"in":[74,87,133,159],"modular":[76],"design.":[77],"3possesses":[80],"16":[81],"independent":[82],"actuation,":[85],"implemented":[86],"opposable":[90],"thumb,":[91],"two-chambered":[92],"fingers,":[93],"an":[94],"actuated":[95],"palm,":[96],"ability":[99,152],"spread":[101],"fingers.":[103],"derive":[108],"objectives":[111],"that":[112],"are":[113],"experimentation":[116],"hand\u2019s":[119],"predecessors,":[120],"observations":[121],"grasping,":[124],"principles":[128],"dexterity.":[130],"We":[131],"explain":[132],"detail":[134],"how":[135],"features":[138],"3achieve":[142],"evaluate":[146],"demonstrating":[150],"its":[151],"achieve":[154],"highest":[156],"possible":[157],"score":[158],"Kapandji":[161],"test":[162],"thumb":[164],"opposition,":[165],"realize":[167],"all":[168],"33":[169],"grasp":[170],"types":[171],"comprehensive":[174],"GRASP":[175],"taxonomy,":[176],"replicate":[178],"common":[179],"grasping":[181],"strategies,":[182],"perform":[185],"in-hand":[187],"manipulation.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":46},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":7}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2022-05-05T00:00:00"}