{"id":"https://openalex.org/W4411019409","doi":"https://doi.org/10.1109/robosoft63089.2025.11020914","title":"Bio-Inspired Self Locking Soft Finger Design with Variable Length for Versatile Stable Grasps","display_name":"Bio-Inspired Self Locking Soft Finger Design with Variable Length for Versatile Stable Grasps","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019409","doi":"https://doi.org/10.1109/robosoft63089.2025.11020914"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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/A5060316330","display_name":"Qiujie Lu","orcid":"https://orcid.org/0000-0001-8581-2021"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiujie Lu","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102747968","display_name":"Fang Zhang","orcid":"https://orcid.org/0000-0002-3678-5917"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Zhang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100458478","display_name":"Xinran Wang","orcid":"https://orcid.org/0000-0002-3885-6870"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xinran Wang","raw_affiliation_strings":["Imperial College London,Dyson School of Design Engineering,London,UK,>SW7 2DB"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Dyson School of Design Engineering,London,UK,>SW7 2DB","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041880422","display_name":"Kelin Li","orcid":"https://orcid.org/0000-0002-6505-9201"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kelin Li","raw_affiliation_strings":["Imperial College London,Dyson School of Design Engineering,London,UK,>SW7 2DB"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Dyson School of Design Engineering,London,UK,>SW7 2DB","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632241","display_name":"Zhuang Zhang","orcid":"https://orcid.org/0000-0002-3834-3477"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuang Zhang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067539236","display_name":"Zhongxue Gan","orcid":"https://orcid.org/0000-0003-3873-5187"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongxue Gan","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China,200433"],"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China,200433","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5060316330"],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14356291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6116101145744324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5271686911582947},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3667750954627991},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2527011036872864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.211015522480011},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0943731963634491}],"concepts":[{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6116101145744324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5271686911582947},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3667750954627991},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2527011036872864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.211015522480011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0943731963634491},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1826399803","https://openalex.org/W2020271561","https://openalex.org/W2079574144","https://openalex.org/W2333727122","https://openalex.org/W2614107499","https://openalex.org/W2784648116","https://openalex.org/W2947323496","https://openalex.org/W3005933886","https://openalex.org/W3022219091","https://openalex.org/W3092868804","https://openalex.org/W3208859462","https://openalex.org/W3217370814","https://openalex.org/W4200397945","https://openalex.org/W4365140254","https://openalex.org/W4383108810","https://openalex.org/W4388560953","https://openalex.org/W4391745406","https://openalex.org/W4394994325"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Soft":[0],"hands":[1],"have":[2,60],"been":[3,61],"widely":[4],"used":[5],"for":[6],"grasping":[7,174,192,221],"tasks":[8],"due":[9],"to":[10,20,26,63,129,164,184,189,214],"their":[11],"high":[12,114],"compliance":[13],"and":[14,32,34,119,132,145,171,208,223,237],"safety":[15],"in":[16,53,234],"collaborative":[17],"tasks.":[18],"Compared":[19],"rigid":[21,73,232],"fingers,":[22,69],"they":[23],"can":[24,127,161,201],"adapt":[25,128,163],"wide":[27],"range":[28],"of":[29,38,67,134,139,167,231],"object":[30],"shapes":[31,133],"sizes":[33],"reduce":[35],"the":[36,65,108,135,140,146,165,168,191,197,203,209,215],"chance":[37],"slippage":[39],"under":[40,175],"uncertainty.":[41],"However,":[42],"finger":[43,102,169,204,218],"stiffness":[44,66,115,206,211,222],"remains":[45],"a":[46,54,99,185],"crucial":[47],"problem":[48],"that":[49,196],"must":[50],"be":[51],"resolved":[52],"definitive":[55],"way.":[56],"Several":[57],"existing":[58],"methods":[59],"proposed":[62,179],"improve":[64],"soft":[68,101,217],"such":[70],"as":[71],"jamming,":[72],"support,":[74],"mechanical":[75,88],"stopper,":[76],"shape-memory":[77],"alloys,":[78],"etc.":[79],"They":[80],"often":[81],"require":[82],"additional":[83],"actuators":[84],"or":[85,90],"pumps,":[86],"large":[87],"structures,":[89],"high-energy":[91],"consumables":[92],"(low":[93],"reaction":[94,147],"time).":[95],"This":[96,122,151],"paper":[97,152],"presents":[98,154],"novel":[100],"design":[103,123,159,181,200],"which":[104,160],"is":[105,124,143,149,226],"inspired":[106],"by":[107],"avian":[109],"feet":[110],"locking":[111],"mechanism":[112],"having":[113],"on":[116],"both":[117,235],"front":[118,210],"side":[120,205],"view.":[121],"flexible;":[125],"it":[126],"different":[130],"lengths":[131],"fingers.":[136],"The":[137,178,220],"size":[138],"bio-inspired":[141],"spine":[142,199],"miniature":[144],"time":[148],"fast.":[150],"also":[153],"an":[155],"interesting":[156],"inflatable":[157],"fingertip":[158],"passively":[162],"displacement":[166],"bend":[170],"provide":[172],"robust":[173],"dynamic":[176,238],"conditions.":[177,239],"soft-finger":[180],"has":[182],"attached":[183],"three-finger":[186],"gripper":[187],"base":[188],"perform":[190],"tests.":[193],"Results":[194],"show":[195],"internal":[198],"enhance":[202],"2000%":[207],"70%":[212],"compare":[213],"normal":[216],"design.":[219],"stability":[224],"performance":[225],"even":[227],"better":[228],"than":[229],"those":[230],"fingers":[233],"static":[236]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}