{"id":"https://openalex.org/W3090404281","doi":"https://doi.org/10.1109/icarm49381.2020.9195307","title":"A Novel Underactuated Robot Finger with a Limit of Electromagnet Braking for Parallel Pinching, Coupling and Self-adaptive Grasps","display_name":"A Novel Underactuated Robot Finger with a Limit of Electromagnet Braking for Parallel Pinching, Coupling and Self-adaptive Grasps","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3090404281","doi":"https://doi.org/10.1109/icarm49381.2020.9195307","mag":"3090404281"},"language":"en","primary_location":{"id":"doi:10.1109/icarm49381.2020.9195307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm49381.2020.9195307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5053378625","display_name":"Siyu Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I55654194","display_name":"Inner Mongolia University of Technology","ror":"https://ror.org/05564e019","country_code":"CN","type":"education","lineage":["https://openalex.org/I55654194"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Siyu Cheng","raw_affiliation_strings":["Dept. of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot, China","institution_ids":["https://openalex.org/I55654194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102941157","display_name":"Wenzeng Zhang","orcid":"https://orcid.org/0000-0003-3537-147X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100770259","display_name":"Weiguo Li","orcid":"https://orcid.org/0000-0002-7558-1546"},"institutions":[{"id":"https://openalex.org/I55654194","display_name":"Inner Mongolia University of Technology","ror":"https://ror.org/05564e019","country_code":"CN","type":"education","lineage":["https://openalex.org/I55654194"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiguo Li","raw_affiliation_strings":["Dept. of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot, China","institution_ids":["https://openalex.org/I55654194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053378625"],"corresponding_institution_ids":["https://openalex.org/I55654194"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.12142905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"4","issue":null,"first_page":"84","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9907000064849854,"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/electromagnet","display_name":"Electromagnet","score":0.7674513459205627},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.7050650715827942},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6463549137115479},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.6265779137611389},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5959495902061462},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5531988739967346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4824305474758148},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4470939040184021},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.44622817635536194},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44264450669288635},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43820077180862427},{"id":"https://openalex.org/keywords/power-transmission","display_name":"Power transmission","score":0.42547303438186646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3580860197544098},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.274242639541626},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.21155136823654175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16350463032722473},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16292855143547058},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.14563196897506714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12060478329658508}],"concepts":[{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.7674513459205627},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.7050650715827942},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6463549137115479},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.6265779137611389},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5959495902061462},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5531988739967346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4824305474758148},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4470939040184021},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.44622817635536194},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44264450669288635},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43820077180862427},{"id":"https://openalex.org/C92018576","wikidata":"https://www.wikidata.org/wiki/Q3242194","display_name":"Power transmission","level":3,"score":0.42547303438186646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3580860197544098},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.274242639541626},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.21155136823654175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16350463032722473},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16292855143547058},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.14563196897506714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12060478329658508},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm49381.2020.9195307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm49381.2020.9195307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1584921675","https://openalex.org/W1889541381","https://openalex.org/W1984237968","https://openalex.org/W1997047708","https://openalex.org/W1999375810","https://openalex.org/W2042326523","https://openalex.org/W2048644448","https://openalex.org/W2055256495","https://openalex.org/W2126701792","https://openalex.org/W2133913941","https://openalex.org/W2142663751","https://openalex.org/W2144113061","https://openalex.org/W2155840082","https://openalex.org/W2184744169","https://openalex.org/W2383241568","https://openalex.org/W2468050848","https://openalex.org/W2592873292","https://openalex.org/W2966164917","https://openalex.org/W3000963953","https://openalex.org/W4210660029","https://openalex.org/W6639261575","https://openalex.org/W6766824524","https://openalex.org/W7062782387"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W2362128583","https://openalex.org/W3135136999"],"abstract_inverted_index":{"This":[0,25],"paper":[1],"proposes":[2],"a":[3,9,38,42,51,54,137],"novel":[4],"underactuated":[5],"robot":[6],"finger":[7,26,34,111,124,135],"with":[8,35,40],"limit":[10,56],"of":[11,61,70,94,129,140],"electromagnet":[12,63,88],"brake,":[13],"which":[14],"integrates":[15],"three":[16,92],"grasping":[17,79,116,121],"modes,":[18,122],"parallel":[19,72],"pinching,":[20],"coupling,":[21],"and":[22,74,86,115,132],"self-adaptive":[23,78],"grasping.":[24,76],"is":[27,57],"named":[28],"LEMB":[29,33],"finger.":[30],"In":[31],"the":[32,62,71,87,110,123],"two":[36],"joints,":[37],"motor":[39],"reducer,":[41],"differential":[43],"transmission":[44,47],"mechanism,":[45],"gear":[46,95],"mechanisms,":[48],"an":[49],"electromagnet,":[50],"touch":[52],"switch,":[53],"movable":[55],"designed.":[58],"The":[59,77,134],"status":[60],"can":[64,125],"be":[65,81],"switched":[66],"in":[67,103],"different":[68,130],"modes":[69],"pinching":[73],"coupled":[75],"will":[80],"effective":[82],"due":[83],"to":[84,119,127],"springs":[85,100],"brake.":[89],"There":[90],"are":[91],"sets":[93],"chains":[96],"for":[97],"power":[98],"transmission,":[99],"ensures":[101],"non-conflict":[102],"their":[104],"motion.":[105],"Analysis":[106],"results":[107],"show":[108],"that":[109],"has":[112,136],"good":[113],"adaptability":[114],"ability.":[117],"Due":[118],"multiple":[120],"adapt":[126],"objects":[128],"shapes":[131],"sizes.":[133],"wider":[138],"range":[139],"applications.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}