{"id":"https://openalex.org/W4401018126","doi":"https://doi.org/10.1109/ur61395.2024.10597461","title":"Introducing H4ND: Hyper-resilient, 4-Fingered, Nimble, Dexterous Anthropomorphic Robot Hand Optimized for Research","display_name":"Introducing H4ND: Hyper-resilient, 4-Fingered, Nimble, Dexterous Anthropomorphic Robot Hand Optimized for Research","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4401018126","doi":"https://doi.org/10.1109/ur61395.2024.10597461"},"language":"en","primary_location":{"id":"doi:10.1109/ur61395.2024.10597461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur61395.2024.10597461","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 21st International Conference on Ubiquitous Robots (UR)","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/A5065056914","display_name":"Nicolas Kosanovic","orcid":null},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nicolas Kosanovic","raw_affiliation_strings":["University of Louisville,Department of Electrical and Computer Engineering"],"affiliations":[{"raw_affiliation_string":"University of Louisville,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033596369","display_name":"Jean Chagas Vaz","orcid":"https://orcid.org/0000-0002-2934-8209"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Chagas Vaz","raw_affiliation_strings":["University of Louisville,Faculty of Electrical and Computer Engineering,Louisville,KY,USA,40208"],"affiliations":[{"raw_affiliation_string":"University of Louisville,Faculty of Electrical and Computer Engineering,Louisville,KY,USA,40208","institution_ids":["https://openalex.org/I142740786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065056914"],"corresponding_institution_ids":["https://openalex.org/I142740786"],"apc_list":null,"apc_paid":null,"fwci":0.7839,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68399814,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"342","last_page":"349"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9491999745368958,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9491999745368958,"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":0.9350000023841858,"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/robot-hand","display_name":"Robot hand","score":0.7724403142929077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6058372855186462},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5803220868110657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5300583243370056},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.44995078444480896},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42514508962631226},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33710551261901855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32290059328079224}],"concepts":[{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.7724403142929077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6058372855186462},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5803220868110657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5300583243370056},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.44995078444480896},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42514508962631226},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33710551261901855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32290059328079224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur61395.2024.10597461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur61395.2024.10597461","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 21st International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5400000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309566","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1999375810","https://openalex.org/W2053372911","https://openalex.org/W2115647181","https://openalex.org/W2134167019","https://openalex.org/W2146271714","https://openalex.org/W2243957635","https://openalex.org/W2558807622","https://openalex.org/W2772804864","https://openalex.org/W2901136733","https://openalex.org/W2972875757","https://openalex.org/W4205693545","https://openalex.org/W4321192274","https://openalex.org/W4385430685","https://openalex.org/W4390059508","https://openalex.org/W4390480946","https://openalex.org/W4391359341","https://openalex.org/W4391422842","https://openalex.org/W6677088734","https://openalex.org/W6697329900","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2018667201","https://openalex.org/W3027667018","https://openalex.org/W4205469505","https://openalex.org/W2149699537","https://openalex.org/W2088476797","https://openalex.org/W2570668074","https://openalex.org/W4386942737","https://openalex.org/W2953528623","https://openalex.org/W2743365074","https://openalex.org/W2144333659"],"abstract_inverted_index":{"General-purpose":[0],"grasping":[1,99],"is":[2,118,167],"a":[3,90,108,130,152,160,168],"vital":[4],"component":[5],"of":[6,30,147],"robotic":[7,58,176],"manipulation":[8,28],"that":[9],"requires":[10],"resilient":[11],"and":[12,43,65,112,125,157,171,193],"sophisticated":[13],"gripper":[14],"hardware.":[15],"Anthropomorphic":[16],"robot":[17],"hands":[18],"try":[19],"to":[20,37,61,85,175,184],"address":[21],"this":[22,98],"need":[23],"by":[24],"imitating":[25],"the":[26,51,79,165,179],"universal":[27],"abilities":[29],"human":[31],"hands;":[32],"however,":[33],"such":[34],"technology":[35],"tends":[36],"be":[38,62,113],"more":[39,194],"mechanically":[40],"complex,":[41],"expensive,":[42],"fragile":[44],"than":[45,159],"simpler":[46],"grippers.":[47],"This":[48,117],"work":[49],"presents":[50],"H4ND-an":[52],"inventive,":[53],"next-generation":[54],"servo-driven":[55,72],"3D":[56],"printed":[57],"hand":[59],"designed":[60],"repeatedly":[63],"damaged":[64],"repaired":[66],"at":[67],"never-beforeseen":[68],"rates.":[69],"Unlike":[70],"its":[71,87],"counterparts":[73],"(e.g.":[74],"Allegrohand,":[75],"HDHM,":[76],"LEAP":[77],"Hand),":[78],"H4ND":[80,166,180],"uses":[81],"size-optimized":[82],"sacrificial":[83],"linkages":[84],"shift":[86],"point-of-failure":[88],"onto":[89],"laughably":[91],"inexpensive,":[92,170],"massively":[93],"manufacturable,":[94],"3D-printed":[95],"part.":[96],"Hence,":[97],"platform":[100],"can":[101,181],"suffer":[102],"merciless":[103],"abuse":[104],"during":[105],"experimentation,":[106],"undergo":[107],"quick-and-easy":[109],"repair":[110,163],"process,":[111],"fully":[114],"functional":[115],"again.":[116],"demonstrated":[119],"in":[120],"experiments":[121],"featuring":[122],"telepresence":[123],"control":[124],"heavy":[126],"object":[127],"manipulation.":[128],"With":[129],"4.50":[131],"kg":[132,143],"maximum":[133],"payload,":[134],"0.25":[135],"<tex":[136],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$s$</tex>":[138],"finger":[139],"closing":[140],"time,":[141,164],"0.590":[142],"weight,":[144],"16":[145],"Degrees":[146],"Freedom,":[148],"humanoid":[149],"form":[150],"factor,":[151],"500":[153],"USD":[154],"price":[155],"tag,":[156],"less":[158,186],"5-minute":[161],"mean":[162],"hyper-resilient,":[169],"potentially":[172],"market-disrupting":[173],"solution":[174],"grasping.":[177],"Therefore,":[178],"empower":[182],"researchers":[183],"spend":[185],"time":[187,195],"worrying":[188],"about":[189],"their":[190],"hardware's":[191],"cost/longevity,":[192],"doing":[196],"research.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}