{"id":"https://openalex.org/W4301718283","doi":"https://doi.org/10.1109/tro.2022.3192979","title":"A Multi-DoF Exoskeleton Haptic Device for the Grasping of a Compliant Object Adapting to a User's Motion Using Jamming Transitions","display_name":"A Multi-DoF Exoskeleton Haptic Device for the Grasping of a Compliant Object Adapting to a User's Motion Using Jamming Transitions","publication_year":2022,"publication_date":"2022-08-09","ids":{"openalex":"https://openalex.org/W4301718283","doi":"https://doi.org/10.1109/tro.2022.3192979"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3192979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3192979","pdf_url":null,"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":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/A5040808800","display_name":"Ryohei Michikawa","orcid":"https://orcid.org/0000-0002-8634-0932"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryohei Michikawa","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8634-0932","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057938506","display_name":"Takahiro Endo","orcid":"https://orcid.org/0000-0002-2231-5359"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Endo","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2231-5359","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9685-3267","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":1.3557,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.79652008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"1","first_page":"373","last_page":"385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7841657400131226},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7744737863540649},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.7571010589599609},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6077818274497986},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.570407509803772},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5640982389450073},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5301821231842041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49075374007225037},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.41970789432525635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41927289962768555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3305531144142151},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08300560712814331},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07844758033752441}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7841657400131226},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7744737863540649},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.7571010589599609},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6077818274497986},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.570407509803772},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5640982389450073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5301821231842041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49075374007225037},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.41970789432525635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41927289962768555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3305531144142151},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08300560712814331},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07844758033752441},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3192979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3192979","pdf_url":null,"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":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":0.5099999904632568,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W1900862235","https://openalex.org/W1968739012","https://openalex.org/W1974768094","https://openalex.org/W1983514388","https://openalex.org/W2002238231","https://openalex.org/W2004591261","https://openalex.org/W2008660103","https://openalex.org/W2022195987","https://openalex.org/W2024242733","https://openalex.org/W2026569567","https://openalex.org/W2036569055","https://openalex.org/W2036723211","https://openalex.org/W2037674894","https://openalex.org/W2040362177","https://openalex.org/W2062726033","https://openalex.org/W2102670214","https://openalex.org/W2106836364","https://openalex.org/W2127901349","https://openalex.org/W2134525555","https://openalex.org/W2142412018","https://openalex.org/W2143934463","https://openalex.org/W2144232362","https://openalex.org/W2144573888","https://openalex.org/W2150606742","https://openalex.org/W2153999925","https://openalex.org/W2164887397","https://openalex.org/W2192939976","https://openalex.org/W2282481780","https://openalex.org/W2325359034","https://openalex.org/W2368067523","https://openalex.org/W2397519240","https://openalex.org/W2441297925","https://openalex.org/W2565842466","https://openalex.org/W2612110125","https://openalex.org/W2767734294","https://openalex.org/W2799602196","https://openalex.org/W2897561735","https://openalex.org/W2900630341","https://openalex.org/W2917841207","https://openalex.org/W3014113596","https://openalex.org/W4240721812","https://openalex.org/W6701340670"],"related_works":["https://openalex.org/W2557545276","https://openalex.org/W2887985348","https://openalex.org/W3017269254","https://openalex.org/W2401700601","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2593563634","https://openalex.org/W3139794584","https://openalex.org/W2590554196","https://openalex.org/W2348224808"],"abstract_inverted_index":{"In":[0,94,120],"the":[1,8,17,37,59,81,98,111,118,138,147,151,154,157,162,165],"recently":[2],"growing":[3],"field":[4],"of":[5,39,42,61,77,100,117,150,164],"virtual":[6,9,22],"reality,":[7],"grasping":[10,23,43],"sensation":[11,38],"remains":[12],"in":[13],"its":[14],"infancy,":[15],"and":[16,21,68,103,109,126,156,160],"discrepancy":[18],"between":[19],"real":[20],"has":[24,87],"become":[25],"a":[26,31,47,65,69,74,124],"problem.":[27],"This":[28],"article":[29],"develops":[30],"new":[32],"haptic":[33],"glove":[34],"that":[35,57,72,89,130],"presents":[36,110],"different":[40],"types":[41],"(e.g.,":[44],"power/precision/intermediate":[45],"grasping)":[46],"compliant":[48],"object.":[49],"To":[50],"this":[51],"end,":[52],"we":[53,122],"develop":[54],"an":[55,132],"exoskeleton":[56,86,155],"fixes":[58],"movements":[60],"fingers":[62],"to":[63,114,145],"present":[64],"braking":[66,112],"force":[67,113],"flexible":[70],"pad":[71,129,159],"reproduces":[73,131],"wide":[75],"range":[76,135],"stiffness.":[78],"By":[79],"applying":[80],"\u201cstring":[82],"jamming":[83,140],"mechanism,\u201d":[84],"our":[85],"functions":[88],"existing":[90],"devices":[91],"do":[92],"not.":[93],"that,":[95],"it":[96],"constrains":[97],"motion":[99],"finger":[101],"extension/flexion":[102],"adduction/abduction":[104],"with":[105],"only":[106],"one":[107],"actuator":[108],"all":[115],"surfaces":[116],"finger.":[119],"addition,":[121],"propose":[123],"lightweight":[125],"compact":[127],"variable-stiffness":[128,158],"extensive":[133],"stiffness":[134],"based":[136],"on":[137],"layer":[139],"technique.":[141],"We":[142],"conducted":[143],"experiments":[144],"evaluate":[146],"mechanical":[148],"performance":[149],"prototype":[152],"integrating":[153],"demonstrated":[161],"usefulness":[163],"proposed":[166],"glove.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
