{"id":"https://openalex.org/W4313173046","doi":"https://doi.org/10.1109/tro.2022.3224774","title":"Anthropomorphic Twisted String-Actuated Soft Robotic Gripper With Tendon-Based Stiffening","display_name":"Anthropomorphic Twisted String-Actuated Soft Robotic Gripper With Tendon-Based Stiffening","publication_year":2022,"publication_date":"2022-12-02","ids":{"openalex":"https://openalex.org/W4313173046","doi":"https://doi.org/10.1109/tro.2022.3224774"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3224774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3224774","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/A5028740393","display_name":"Revanth Konda","orcid":"https://orcid.org/0000-0001-6525-8713"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Revanth Konda","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA"],"raw_orcid":"https://orcid.org/0000-0001-6525-8713","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037348450","display_name":"David Bombara","orcid":"https://orcid.org/0000-0003-0791-561X"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Bombara","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA"],"raw_orcid":"https://orcid.org/0000-0003-0791-561X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019556898","display_name":"Steven Swanbeck","orcid":"https://orcid.org/0000-0002-7106-3530"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Swanbeck","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA"],"raw_orcid":"https://orcid.org/0000-0002-7106-3530","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100433255","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0003-1760-1702"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Nevada, Reno, NV, USA"],"raw_orcid":"https://orcid.org/0000-0003-1760-1702","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4951,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.95794954,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"2","first_page":"1178","last_page":"1195"},"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":0.998199999332428,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9966999888420105,"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/grippers","display_name":"Grippers","score":0.9423295259475708},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7515698075294495},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6237104535102844},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6168909668922424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5705797672271729},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5123356580734253},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5112762451171875},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.44519054889678955},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4205661416053772},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.41395461559295654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36569976806640625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3617258071899414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3311189115047455},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3134766221046448}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9423295259475708},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7515698075294495},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6237104535102844},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6168909668922424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5705797672271729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5123356580734253},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5112762451171875},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.44519054889678955},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4205661416053772},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.41395461559295654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36569976806640625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3617258071899414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3311189115047455},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3134766221046448},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3224774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3224774","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":0.5899999737739563,"id":"https://metadata.un.org/sdg/1","display_name":"No poverty"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W1576967268","https://openalex.org/W1589019727","https://openalex.org/W1605566249","https://openalex.org/W1888892744","https://openalex.org/W1966705057","https://openalex.org/W1971594203","https://openalex.org/W1974506442","https://openalex.org/W1975033238","https://openalex.org/W1991761189","https://openalex.org/W1997560983","https://openalex.org/W2005806111","https://openalex.org/W2005946166","https://openalex.org/W2024848799","https://openalex.org/W2024907472","https://openalex.org/W2026640515","https://openalex.org/W2026685952","https://openalex.org/W2027454283","https://openalex.org/W2038439784","https://openalex.org/W2110741537","https://openalex.org/W2113376189","https://openalex.org/W2197302844","https://openalex.org/W2273215869","https://openalex.org/W2282481780","https://openalex.org/W2293554515","https://openalex.org/W2305725148","https://openalex.org/W2420520839","https://openalex.org/W2518216050","https://openalex.org/W2566790534","https://openalex.org/W2570357259","https://openalex.org/W2572646513","https://openalex.org/W2590782323","https://openalex.org/W2611545432","https://openalex.org/W2740239457","https://openalex.org/W2740763895","https://openalex.org/W2772142421","https://openalex.org/W2774646890","https://openalex.org/W2784648116","https://openalex.org/W2810773383","https://openalex.org/W2887035921","https://openalex.org/W2891280652","https://openalex.org/W2908611393","https://openalex.org/W2909152518","https://openalex.org/W2943059958","https://openalex.org/W2947665220","https://openalex.org/W2964507111","https://openalex.org/W2967233485","https://openalex.org/W2973761438","https://openalex.org/W2996650081","https://openalex.org/W3002768791","https://openalex.org/W3003866761","https://openalex.org/W3010777190","https://openalex.org/W3014188318","https://openalex.org/W3020019805","https://openalex.org/W3025986385","https://openalex.org/W3028813881","https://openalex.org/W3037446792","https://openalex.org/W3040887933","https://openalex.org/W3101873950","https://openalex.org/W3126550848","https://openalex.org/W3127525943","https://openalex.org/W3133349997","https://openalex.org/W3138732012","https://openalex.org/W3146546164","https://openalex.org/W3160595376","https://openalex.org/W3174167970","https://openalex.org/W3176391860","https://openalex.org/W3184439949","https://openalex.org/W3196652608","https://openalex.org/W4205472309","https://openalex.org/W4210913434","https://openalex.org/W4226301680","https://openalex.org/W4294691877"],"related_works":["https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W2114938142","https://openalex.org/W3214990115","https://openalex.org/W299000627","https://openalex.org/W2911666782","https://openalex.org/W3094235490"],"abstract_inverted_index":{"Realizing":[0],"high-performance":[1],"soft":[2,14,43,66,82,188],"robotic":[3,67,76],"grippers":[4],"is":[5,52,164],"challenging":[6],"because":[7],"of":[8,12,90,136,145,149,160],"the":[9,13,91,96,110,139,146,150,176],"inherent":[10],"limitations":[11],"actuators":[15,61],"and":[16,29,49,102,125,142],"artificial":[17],"muscles":[18],"that":[19,175],"drive":[20,64],"them,":[21],"including":[22],"low":[23],"force":[24,50,123,159],"generation,":[25],"small":[26],"actuation":[27,120],"range,":[28],"poor":[30],"compactness":[31],"to":[32,63,185],"name":[33],"a":[34,65,103,134,156],"few.":[35],"Despite":[36],"advances":[37],"in":[38,74,81,109],"this":[39],"area,":[40],"realizing":[41],"compact":[42],"grippers,":[44],"which":[45,163],"exhibit":[46],"high":[47],"dexterity":[48],"output,":[51,124],"still":[53],"challenging.":[54],"This":[55],"article":[56],"explores":[57],"using":[58,113],"twisted":[59],"string":[60],"(TSAs)":[62],"gripper.":[68],"TSAs":[69],"have":[70],"been":[71,85],"widely":[72],"used":[73],"numerous":[75],"applications,":[77],"but":[78],"their":[79],"inclusion":[80],"robots":[83],"has":[84],"limited.":[86],"The":[87,116,131],"proposed":[88,177],"design":[89],"gripper":[92,132,178],"was":[93,107],"inspired":[94],"by":[95,112],"human":[97],"hand,":[98],"with":[99],"four":[100],"fingers":[101,111],"thumb.":[104],"Tunable":[105],"stiffness":[106,126],"implemented":[108],"antagonistic":[114],"TSAs.":[115],"fingers'":[117],"bending":[118],"angles,":[119],"speed,":[121],"blocked":[122],"tuning":[127],"are":[128],"experimentally":[129],"characterized.":[130],"achieves":[133],"score":[135],"6":[137],"on":[138],"Kapandji":[140],"test":[141],"recreate":[143],"31":[144],"33":[147],"grasps":[148],"Feix":[151],"GRASP":[152],"taxonomy.":[153],"It":[154],"exhibits":[155,179],"maximum":[157],"grasping":[158],"72":[161],"N,":[162],"almost":[165],"13":[166],"times":[167],"its":[168],"own":[169],"weight.":[170],"A":[171],"comparison":[172],"study":[173],"reveals":[174],"equivalent":[180],"or":[181],"superior":[182],"performance":[183],"compared":[184],"other":[186],"similar":[187],"grippers.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":11}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}
