{"id":"https://openalex.org/W2217141102","doi":"https://doi.org/10.1109/urai.2015.7358968","title":"Design of backdrivable soft robotic finger mechanism","display_name":"Design of backdrivable soft robotic finger mechanism","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2217141102","doi":"https://doi.org/10.1109/urai.2015.7358968","mag":"2217141102"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2015.7358968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5091497439","display_name":"Won Suk You","orcid":"https://orcid.org/0000-0002-1118-9422"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Won Suk You","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101639503","display_name":"Young Hun Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young Hun Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024046397","display_name":"Gitae Kang","orcid":"https://orcid.org/0000-0003-3117-8701"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gitae Kang","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3638,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64229359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"343","last_page":"344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9968000054359436,"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/pulley","display_name":"Pulley","score":0.8212495446205139},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6811955571174622},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6455740928649902},{"id":"https://openalex.org/keywords/interphalangeal-joint","display_name":"Interphalangeal Joint","score":0.6331903338432312},{"id":"https://openalex.org/keywords/finger-joint","display_name":"Finger joint","score":0.6104910969734192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.567259669303894},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.45716679096221924},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.4431953728199005},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.4141165614128113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33736979961395264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3310236632823944},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26408639550209045},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18913379311561584},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17038127779960632},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1594003140926361},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1464480757713318}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.8212495446205139},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6811955571174622},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6455740928649902},{"id":"https://openalex.org/C2909338845","wikidata":"https://www.wikidata.org/wiki/Q16797762","display_name":"Interphalangeal Joint","level":2,"score":0.6331903338432312},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.6104910969734192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.567259669303894},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.45716679096221924},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.4431953728199005},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.4141165614128113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33736979961395264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3310236632823944},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26408639550209045},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18913379311561584},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17038127779960632},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1594003140926361},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1464480757713318},{"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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2015.7358968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1971688004","https://openalex.org/W1975033238","https://openalex.org/W2022430352","https://openalex.org/W2042046013","https://openalex.org/W2139086916","https://openalex.org/W2164575107","https://openalex.org/W6656012135"],"related_works":["https://openalex.org/W2085195671","https://openalex.org/W2159878470","https://openalex.org/W3030856168","https://openalex.org/W2599759304","https://openalex.org/W3029534881","https://openalex.org/W1992123347","https://openalex.org/W2091635097","https://openalex.org/W1999540168","https://openalex.org/W3030014728","https://openalex.org/W3118179711"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,20],"new":[4],"joint":[5,43,78,98],"actuation":[6,86],"mechanism,":[7],"called":[8],"Active":[9],"DIP-PIP":[10],"(ADP)":[11],"joint,":[12],"for":[13],"robotic":[14],"finger.":[15],"The":[16,59],"mechanism":[17],"consists":[18],"of":[19,22,37,89],"pair":[21],"moveable":[23],"pulleys":[24],"and":[25,31,40,75,93],"springs":[26,61],"to":[27,99],"generate":[28],"both":[29],"linked":[30],"adjustable":[32],"motion.":[33],"While":[34],"the":[35],"set":[36],"DIP":[38],"(Distal-Interphalangeal)":[39],"PIP":[41],"(Proximal-Interphalangeal)":[42],"shows":[44],"coupled":[45],"movement":[46,69],"in":[47],"free":[48],"space,":[49],"it":[50,54],"moves":[51],"adaptively":[52],"when":[53],"contacts":[55],"with":[56],"an":[57,82],"object.":[58,83],"torsion":[60],"attached":[62],"on":[63],"each":[64,97],"joints":[65],"ensure":[66],"1:1":[67],"ratio":[68],"while":[70,80],"finger":[71],"is":[72],"moving":[73],"freely":[74],"produce":[76],"additional":[77],"torque":[79],"grasping":[81],"In":[84],"addition,":[85],"module":[87],"composed":[88],"miniature":[90],"BLDC":[91],"motor":[92],"ball":[94],"screw":[95],"allows":[96],"be":[100],"back":[101],"drivable.":[102]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
