{"id":"https://openalex.org/W4410887122","doi":"https://doi.org/10.1109/syscon64521.2025.11014658","title":"Design and Construction of a Cost-Effective Dexterous Robotic Hand for Research and Development","display_name":"Design and Construction of a Cost-Effective Dexterous Robotic Hand for Research and Development","publication_year":2025,"publication_date":"2025-04-07","ids":{"openalex":"https://openalex.org/W4410887122","doi":"https://doi.org/10.1109/syscon64521.2025.11014658"},"language":"en","primary_location":{"id":"doi:10.1109/syscon64521.2025.11014658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon64521.2025.11014658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International systems Conference (SysCon)","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/A5117770495","display_name":"Shahram Mohsini","orcid":null},"institutions":[{"id":"https://openalex.org/I39470171","display_name":"University of Ontario Institute of Technology","ror":"https://ror.org/016zre027","country_code":"CA","type":"education","lineage":["https://openalex.org/I39470171"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Shahram Mohsini","raw_affiliation_strings":["Ontario Tech University,dept. Auto. & Mechatronics Engineering,Oshawa,Canada"],"affiliations":[{"raw_affiliation_string":"Ontario Tech University,dept. Auto. & Mechatronics Engineering,Oshawa,Canada","institution_ids":["https://openalex.org/I39470171"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069214031","display_name":"Meaghan Charest-Finn","orcid":null},"institutions":[{"id":"https://openalex.org/I39470171","display_name":"University of Ontario Institute of Technology","ror":"https://ror.org/016zre027","country_code":"CA","type":"education","lineage":["https://openalex.org/I39470171"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Meaghan Charest-Finn","raw_affiliation_strings":["Ontario Tech University,dept. Auto. & Mechatronics Engineering,Oshawa,Canada"],"affiliations":[{"raw_affiliation_string":"Ontario Tech University,dept. Auto. & Mechatronics Engineering,Oshawa,Canada","institution_ids":["https://openalex.org/I39470171"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048290919","display_name":"Rickey Dubay","orcid":"https://orcid.org/0000-0002-4132-6483"},"institutions":[{"id":"https://openalex.org/I106938459","display_name":"University of New Brunswick","ror":"https://ror.org/05nkf0n29","country_code":"CA","type":"education","lineage":["https://openalex.org/I106938459"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rickey Dubay","raw_affiliation_strings":["University of New Brunswick,dept. Mechanical Engineering,Fredericton,Canada"],"affiliations":[{"raw_affiliation_string":"University of New Brunswick,dept. Mechanical Engineering,Fredericton,Canada","institution_ids":["https://openalex.org/I106938459"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5117770495"],"corresponding_institution_ids":["https://openalex.org/I39470171"],"apc_list":null,"apc_paid":null,"fwci":1.2604,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79773266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8722000122070312,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8722000122070312,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.8112999796867371,"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/computer-science","display_name":"Computer science","score":0.5522211194038391},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5382710695266724},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44410231709480286},{"id":"https://openalex.org/keywords/construction-engineering","display_name":"Construction engineering","score":0.38084307312965393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3769630789756775},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.3680882155895233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36610138416290283},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.32325783371925354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3091638386249542}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5522211194038391},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5382710695266724},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44410231709480286},{"id":"https://openalex.org/C107053488","wikidata":"https://www.wikidata.org/wiki/Q2674423","display_name":"Construction engineering","level":1,"score":0.38084307312965393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3769630789756775},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.3680882155895233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36610138416290283},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.32325783371925354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3091638386249542}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon64521.2025.11014658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon64521.2025.11014658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International systems Conference (SysCon)","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":15,"referenced_works":["https://openalex.org/W2071565744","https://openalex.org/W2157822690","https://openalex.org/W2558807622","https://openalex.org/W2950069298","https://openalex.org/W3134399564","https://openalex.org/W3174659208","https://openalex.org/W3206921000","https://openalex.org/W3212905267","https://openalex.org/W4200213509","https://openalex.org/W4226345293","https://openalex.org/W4315865569","https://openalex.org/W4321330995","https://openalex.org/W4367834905","https://openalex.org/W4389352485","https://openalex.org/W4391994216"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W1990892711"],"abstract_inverted_index":{"Human-Robot":[0],"Interaction":[1],"(HRI)":[2],"is":[3,78],"increasingly":[4],"becoming":[5],"commonplace":[6],"in":[7,75,120,188,204,216],"various":[8],"fields,":[9],"including":[10],"service":[11],"robotics,":[12],"industrial":[13],"automation,":[14],"and":[15,19,31,51,60,73,81,95,112,129,166,202,214],"healthcare.":[16],"Public":[17],"acceptance":[18],"positive":[20],"interaction":[21,39],"with":[22,40,92,180],"these":[23,35],"robots":[24,43],"are":[25],"heavily":[26],"influenced":[27],"by":[28],"the":[29,58,87,105,113,121,148,181],"appearance":[30],"human":[32,41],"likeness":[33],"of":[34,53,62,115,118,131],"robots.":[36],"To":[37],"enable":[38,124],"beings,":[42],"need":[44],"manipulators":[45],"that":[46],"support":[47],"high":[48,178],"dexterity,":[49],"cost-efficiency,":[50],"ease":[52],"development.":[54],"This":[55,194],"study":[56,149],"presents":[57],"design":[59,102,145],"development":[61,74,128],"EvoGrip,":[63],"a":[64,79,116,132,159,167,197],"humanoid":[65],"dexterous":[66],"robotic":[67,83,205],"hand":[68,106],"aimed":[69],"at":[70],"supporting":[71],"research":[72,201],"HRI.":[76],"EvoGrip":[77],"cost-effective":[80],"easy-to-build":[82],"hand,":[84],"adapted":[85],"from":[86],"open-source":[88],"project":[89],"Inmoov,":[90],"enhanced":[91],"actuators,":[93],"sensors":[94],"other":[96],"added":[97],"value":[98],"features.":[99],"The":[100,127],"mechanical":[101],"changes":[103],"to":[104,123],"include":[107],"improvements":[108],"for":[109,155,190,199],"movement":[110],"repeatability":[111],"addition":[114],"degree":[117],"freedom":[119],"thumb":[122],"greater":[125],"dexterity.":[126],"integration":[130],"custom":[133],"string":[134],"potentiometer":[135],"system,":[136],"enables":[137],"precise":[138],"finger":[139,157],"position":[140],"tracking":[141],"while":[142],"simultaneously":[143],"reducing":[144],"complexity.":[146],"Furthermore,":[147],"develops":[150],"two":[151],"distinct":[152],"modeling":[153,175],"approaches":[154],"EvoGrip's":[156],"dynamics:":[158],"mathematical":[160],"model":[161,169,184],"based":[162],"on":[163,208],"first":[164],"principles":[165],"data-driven":[168],"using":[170],"system":[171,182],"identification":[172,183],"techniques.":[173],"Both":[174],"strategies":[176],"demonstrated":[177],"accuracy,":[179],"showing":[185],"superior":[186],"performance":[187],"compensating":[189],"complex,":[191],"nonlinear":[192],"behaviors.":[193],"work":[195],"establishes":[196],"foundation":[198],"future":[200],"advancements":[203],"hands,":[206],"focusing":[207],"real-time":[209],"control,":[210],"advanced":[211],"pressure":[212],"excursion":[213],"applications":[215],"human-centric":[217],"tasks.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}