{"id":"https://openalex.org/W2947336389","doi":"https://doi.org/10.1109/robosoft.2019.8722773","title":"A Grasping Component Mapping Approach for Soft Robotic End-Effector Control","display_name":"A Grasping Component Mapping Approach for Soft Robotic End-Effector Control","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947336389","doi":"https://doi.org/10.1109/robosoft.2019.8722773","mag":"2947336389"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722773","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","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/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101740342","display_name":"Xiaojiao Chen","orcid":"https://orcid.org/0000-0001-5868-006X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"XiaoJiao Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071641491","display_name":"Ukyoung Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ukyoung Chang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100757196","display_name":"Yonghua Chen","orcid":"https://orcid.org/0000-0003-4020-1977"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yonghua Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong, SAR","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5005976047"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":7.1835,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.98266322,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"650","last_page":"655"},"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":0.9980999827384949,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9850999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.8259941339492798},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6862683892250061},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.637625515460968},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5983360409736633},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.573128342628479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5690815448760986},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5687183141708374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5569126605987549},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5381883382797241},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4261513352394104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3907446265220642}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.8259941339492798},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6862683892250061},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.637625515460968},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5983360409736633},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.573128342628479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5690815448760986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5687183141708374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5569126605987549},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5381883382797241},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4261513352394104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3907446265220642},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft.2019.8722773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722773","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1520726269","https://openalex.org/W1635989058","https://openalex.org/W1888892744","https://openalex.org/W1965157602","https://openalex.org/W1967702609","https://openalex.org/W1981299160","https://openalex.org/W2037867075","https://openalex.org/W2064878003","https://openalex.org/W2094888161","https://openalex.org/W2106215490","https://openalex.org/W2110071596","https://openalex.org/W2111976035","https://openalex.org/W2261736307","https://openalex.org/W2319296587","https://openalex.org/W2542710067","https://openalex.org/W2558807622","https://openalex.org/W2566038826","https://openalex.org/W2625731136","https://openalex.org/W2810773383","https://openalex.org/W2817949609","https://openalex.org/W2868042605","https://openalex.org/W2871601909","https://openalex.org/W2884331545","https://openalex.org/W2901850371","https://openalex.org/W2911323448","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,24,39,79,181,190],"end-effectors":[2,56],"with":[3,57,144],"inherent":[4,16],"compliance":[5,17],"have":[6],"excellent":[7],"grasping":[8,62,76,81],"adaptability":[9],"and":[10,26,49,98,147,162,183],"ensure":[11],"safe":[12],"human-robot":[13],"interaction.":[14],"The":[15,110,170],"also":[18],"limits":[19],"structural":[20],"dexterity":[21,187],"in":[22,33,158,166],"soft":[23,38,55,149,180,189],"systems":[25],"makes":[27],"mathematical":[28],"modeling":[29],"difficult,":[30],"therefore":[31],"resulting":[32],"control":[34,51,113,142,178],"challenges":[35],"for":[36,53],"existing":[37],"hands.":[40],"To":[41],"tackle":[42],"these":[43],"problems,":[44],"we":[45],"propose":[46],"a":[47,85],"general":[48],"intuitive":[50,108,112],"approach":[52,66,70,172],"various":[54,179],"different":[58,133],"kinematic":[59,87],"structures.":[60,135],"A":[61,91],"component":[63],"based":[64],"mapping":[65],"is":[67],"presented.":[68],"This":[69],"maps":[71],"the":[72,107,118,138,159,185],"essential":[73],"human":[74,93,119],"hand":[75,80,94,129],"components":[77],"to":[78,105,121,131,177],"components,":[82],"without":[83],"requiring":[84],"specific":[86],"model":[88],"per":[89],"end-effector.":[90],"LMC-based":[92],"motion":[95],"capturing":[96],"system":[97],"multi-channel":[99],"pneumatic":[100],"actuation":[101],"platform":[102],"are":[103,154,165],"accompanied":[104],"realize":[106],"control.":[109],"proposed":[111,171],"strategy":[114,143],"does":[115],"not":[116],"require":[117],"operator":[120],"wear":[122],"any":[123],"equipment":[124],"or":[125],"modify":[126],"their":[127],"natural":[128],"behavior":[130],"match":[132],"end-effector":[134],"We":[136],"demonstrate":[137],"efficacy":[139],"of":[140,188],"our":[141,167],"two,":[145],"three,":[146],"four-fingered":[148],"end-effectors.":[150,191],"All":[151],"static":[152],"performances":[153],"depicted":[155],"by":[156],"photos":[157],"experimental":[160],"section":[161],"dynamic":[163],"processes":[164],"accompanying":[168],"video.":[169],"provides":[173],"an":[174],"efficient":[175],"solution":[176],"hands":[182],"enhances":[184],"performance":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}