{"id":"https://openalex.org/W4294690838","doi":"https://doi.org/10.1109/tro.2022.3200006","title":"An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part I: Design, Ligamentous Joint, and Extensor Mechanism","display_name":"An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part I: Design, Ligamentous Joint, and Extensor Mechanism","publication_year":2022,"publication_date":"2022-09-05","ids":{"openalex":"https://openalex.org/W4294690838","doi":"https://doi.org/10.1109/tro.2022.3200006"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3200006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3200006","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/A5022865043","display_name":"Yiming Zhu","orcid":"https://orcid.org/0000-0002-9106-8718"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]},{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I87253917","display_name":"Manchester University","ror":"https://ror.org/02aswte26","country_code":"US","type":"education","lineage":["https://openalex.org/I87253917"]}],"countries":["CN","GB","US"],"is_corresponding":true,"raw_author_name":"Yiming Zhu","raw_affiliation_strings":["School of Mechanical and Aerospace and Civil Engineering, University of Manchester, Manchester, U.K","College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace and Civil Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311","https://openalex.org/I87253917"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054171636","display_name":"Guowu Wei","orcid":"https://orcid.org/0000-0003-2613-902X"},"institutions":[{"id":"https://openalex.org/I54459138","display_name":"University of Salford","ror":"https://ror.org/01tmqtf75","country_code":"GB","type":"education","lineage":["https://openalex.org/I54459138"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guowu Wei","raw_affiliation_strings":["School of Science, Engineering, and Environment, University of Salford, Salford, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2613-902X","affiliations":[{"raw_affiliation_string":"School of Science, Engineering, and Environment, University of Salford, Salford, U.K","institution_ids":["https://openalex.org/I54459138"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021026939","display_name":"Lei Ren","orcid":"https://orcid.org/0000-0003-3222-2102"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I87253917","display_name":"Manchester University","ror":"https://ror.org/02aswte26","country_code":"US","type":"education","lineage":["https://openalex.org/I87253917"]}],"countries":["CN","GB","US"],"is_corresponding":false,"raw_author_name":"Lei Ren","raw_affiliation_strings":["School of Mechanical, Aerospace, and Civil Engineering, University of Manchester, Manchester, U.K","Key Laboratory of Bionic Engineering and Ministry of Education, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-3222-2102","affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace, and Civil Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311","https://openalex.org/I87253917"]},{"raw_affiliation_string":"Key Laboratory of Bionic Engineering and Ministry of Education, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101980562","display_name":"Zirong Luo","orcid":"https://orcid.org/0009-0002-9470-0317"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zirong Luo","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101947565","display_name":"Jianzhong Shang","orcid":"https://orcid.org/0000-0002-1609-2224"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianzhong Shang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1609-2224","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022865043"],"corresponding_institution_ids":["https://openalex.org/I170215575","https://openalex.org/I28407311","https://openalex.org/I87253917"],"apc_list":null,"apc_paid":null,"fwci":2.9162,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90946928,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"39","issue":"1","first_page":"485","last_page":"504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9972000122070312,"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/mechanism","display_name":"Mechanism (biology)","score":0.6559485793113708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5226314067840576},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5150913596153259},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.48308423161506653},{"id":"https://openalex.org/keywords/finger-joint","display_name":"Finger joint","score":0.44624796509742737},{"id":"https://openalex.org/keywords/bionics","display_name":"Bionics","score":0.4435368776321411},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3953676223754883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34520724415779114},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3088655173778534},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15331116318702698},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13408800959587097},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.09964123368263245}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6559485793113708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5226314067840576},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5150913596153259},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.48308423161506653},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.44624796509742737},{"id":"https://openalex.org/C91316289","wikidata":"https://www.wikidata.org/wiki/Q189131","display_name":"Bionics","level":2,"score":0.4435368776321411},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3953676223754883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34520724415779114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3088655173778534},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15331116318702698},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13408800959587097},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.09964123368263245},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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.2022.3200006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3200006","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":[],"awards":[{"id":"https://openalex.org/G5640118226","display_name":null,"funder_award_id":"52005209","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G755061478","display_name":null,"funder_award_id":"91848204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8288085320","display_name":null,"funder_award_id":"51675222","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8965705428","display_name":null,"funder_award_id":"91948302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W92346514","https://openalex.org/W570460269","https://openalex.org/W628529158","https://openalex.org/W1529590698","https://openalex.org/W1574312061","https://openalex.org/W1888892744","https://openalex.org/W1971320014","https://openalex.org/W1973024406","https://openalex.org/W1974072120","https://openalex.org/W1974571955","https://openalex.org/W1984237968","https://openalex.org/W1988848900","https://openalex.org/W1990718137","https://openalex.org/W2003653926","https://openalex.org/W2008796702","https://openalex.org/W2028145273","https://openalex.org/W2034967552","https://openalex.org/W2037937591","https://openalex.org/W2038592235","https://openalex.org/W2052387072","https://openalex.org/W2055739638","https://openalex.org/W2060315118","https://openalex.org/W2063822181","https://openalex.org/W2072981216","https://openalex.org/W2075943808","https://openalex.org/W2081234600","https://openalex.org/W2081671928","https://openalex.org/W2082641899","https://openalex.org/W2090111171","https://openalex.org/W2090252028","https://openalex.org/W2091206399","https://openalex.org/W2098005017","https://openalex.org/W2098914022","https://openalex.org/W2102128645","https://openalex.org/W2127461607","https://openalex.org/W2130732995","https://openalex.org/W2138375695","https://openalex.org/W2141532774","https://openalex.org/W2142058136","https://openalex.org/W2143958693","https://openalex.org/W2155417947","https://openalex.org/W2158029255","https://openalex.org/W2161941092","https://openalex.org/W2164040578","https://openalex.org/W2164068699","https://openalex.org/W2166710659","https://openalex.org/W2166865390","https://openalex.org/W2185222181","https://openalex.org/W2200868669","https://openalex.org/W2210804906","https://openalex.org/W2218684819","https://openalex.org/W2232052975","https://openalex.org/W2416254177","https://openalex.org/W2479593185","https://openalex.org/W2519011419","https://openalex.org/W2545998083","https://openalex.org/W2741179917","https://openalex.org/W2754500362","https://openalex.org/W2776622968","https://openalex.org/W2806467991","https://openalex.org/W2905119925","https://openalex.org/W2996398384","https://openalex.org/W3014307317","https://openalex.org/W3044749552","https://openalex.org/W4243626412","https://openalex.org/W6603639020","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W2361612543","https://openalex.org/W2348408789","https://openalex.org/W2359086065","https://openalex.org/W2382708955","https://openalex.org/W1985413557","https://openalex.org/W2384354767","https://openalex.org/W2377099152","https://openalex.org/W2625462947","https://openalex.org/W3028301818","https://openalex.org/W2892714864"],"abstract_inverted_index":{"Exploring":[0],"human":[1,48],"hand":[2,252],"fundamental":[3],"biomechanical":[4,61,135,170,232],"features":[5,51],"and":[6,66,81,95,104,106,113,148,165,191,195,213,246],"exploiting":[7],"them":[8],"to":[9,15,20,224],"robotic":[10,41,71,251],"hands":[11],"have":[12],"been":[13],"proven":[14],"be":[16,239],"an":[17],"effective":[18],"approach":[19],"enhancing":[21,187],"artificial":[22],"hands'":[23],"performance,":[24],"especially":[25],"when":[26],"interacting":[27],"with":[28,219,254],"various":[29],"objects":[30],"in":[31,52,68,121,207,260],"dynamic":[32],"unstructured":[33],"environments.":[34],"In":[35,125],"this":[36,57,126,264],"article,":[37,131],"a":[38,196,250],"bioinspired":[39,70],"anthropomorphic":[40],"finger":[42,49,92,100,180],"is":[43],"first":[44,77],"proposed,":[45],"which":[46],"embeds":[47],"musculoskeletal":[50],"the":[53,69,76,84,88,108,111,130,134,142,146,155,175,179,188,202,220,242,255],"design.":[54],"Based":[55],"on":[56,117,216],"design,":[58],"three":[59],"human-finger-like":[60],"advantages":[62,171,257],"are":[63,159,258],"systematically":[64,160],"investigated":[65,161],"embodied":[67],"finger.":[72],"This":[73],"article":[74],"for":[75,87,249],"time":[78],"derives,":[79],"presents,":[80],"experimentally":[82,215],"verifies":[83],"mathematical":[85],"models":[86],"variable":[89,184],"stiffness":[90,139],"of":[91,99,110,129,133,145,178,193,263],"ligamentous":[93,143,176],"joints":[94],"self-adaptive":[96],"morphing":[97],"mechanism":[98,158,199],"flexible":[101,243],"tendon":[102,244],"sheaths,":[103],"validates":[105],"compares":[107],"influence":[109],"reticular":[112,156,197],"linear":[114,221],"extensor":[115,157,198],"morphologies":[116],"fingertip":[118,149,203,235],"feasible":[119,150,204],"forces":[120],"three-dimensional":[122],"(3-D)":[123],"space.":[124],"Part":[127,261],"I":[128],"two":[132,169],"properties,":[136],"i.e.,":[137,174,234],"joint":[138,144,177,185],"generated":[140],"by":[141,154,210],"finger,":[147],"force":[151,205,226],"space":[152,206,209],"influenced":[153],"through":[162,241],"theoretical":[163],"modeling":[164],"experimental":[166],"verification.":[167],"Correspondingly,":[168],"were":[172],"found,":[173],"could":[181,200],"provide":[182],"anisotropic":[183],"stiffness,":[186],"adaptivity,":[189],"dexterity,":[190],"stability":[192],"fingers;":[194],"enlarge":[201],"3-D":[208],"30.9%":[211],"theoretically":[212],"146.4%":[214],"average":[217],"compared":[218],"extensor,":[222],"contributing":[223],"enrich":[225],"conditions":[227],"during":[228],"interactions.":[229],"The":[230],"third":[231],"advantage,":[233],"force\u2013velocity":[236],"workspace":[237],"can":[238],"augmented":[240],"sheath,":[245],"grasping":[247],"tests":[248],"designed":[253],"aforementioned":[256],"presented":[259],"II":[262],"article.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
