{"id":"https://openalex.org/W2061313271","doi":"https://doi.org/10.1142/s021984361250034x","title":"DEVELOPMENT OF MULTI-FINGERED ROBOTIC HAND WITH COUPLED AND DIRECTLY SELF-ADAPTIVE GRASP","display_name":"DEVELOPMENT OF MULTI-FINGERED ROBOTIC HAND WITH COUPLED AND DIRECTLY SELF-ADAPTIVE GRASP","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2061313271","doi":"https://doi.org/10.1142/s021984361250034x","mag":"2061313271"},"language":"en","primary_location":{"id":"doi:10.1142/s021984361250034x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361250034x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5071309419","display_name":"Guoxuan Li","orcid":"https://orcid.org/0000-0002-7298-1819"},"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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"GUOXUAN LI","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103038426","display_name":"Han Liu","orcid":"https://orcid.org/0000-0002-7185-2134"},"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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"HAN LIU","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"last","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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"WENZENG ZHANG","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, China","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071309419"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":5.6304,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.95653115,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"09","issue":"04","first_page":"1250034","last_page":"1250034"},"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":0.9991000294685364,"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":0.9951000213623047,"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/grasp","display_name":"GRASP","score":0.9141790866851807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7589660286903381},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6824826002120972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28115516901016235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22845473885536194}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9141790866851807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7589660286903381},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6824826002120972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28115516901016235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22845473885536194},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s021984361250034x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361250034x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321125","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W778289976","https://openalex.org/W1592385143","https://openalex.org/W1980065440","https://openalex.org/W1992412958","https://openalex.org/W1998664098","https://openalex.org/W2010190464","https://openalex.org/W2048553957","https://openalex.org/W2057655055","https://openalex.org/W2063688484","https://openalex.org/W2075540032","https://openalex.org/W2085545845","https://openalex.org/W2093036905","https://openalex.org/W2096277350","https://openalex.org/W2097189012","https://openalex.org/W2098335677","https://openalex.org/W2129476164","https://openalex.org/W2133694148","https://openalex.org/W2138671676","https://openalex.org/W2147717475","https://openalex.org/W2164068699"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2014835022","https://openalex.org/W2157487448","https://openalex.org/W1521361850","https://openalex.org/W2387707337","https://openalex.org/W2889062702","https://openalex.org/W2108345668","https://openalex.org/W2727150712","https://openalex.org/W2348040497","https://openalex.org/W4283214325"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,90,98],"coupled":[4,16,39],"and":[5,18,57,64,113,126,147,156],"directly":[6,19,43],"self-adaptive":[7,20,44],"underactuated":[8,40,45],"(CDSA)":[9],"grasp":[10,17,34,48,149,168],"mode,":[11],"which":[12,119],"has":[13,107],"hybrid":[14],"functions:":[15],"grasp.":[21],"A":[22,73],"novel":[23],"multi-pulley-belt":[24],"finger":[25,53,70,83],"mechanism":[26],"with":[27,37,97],"springs":[28],"is":[29,54,60,84,136,163],"designed":[30],"based":[31,79],"on":[32,80],"CDSA":[33,77,82,105,121,129,142,161,167],"mode.":[35],"Compared":[36],"traditional":[38],"fingers":[41],"or":[42],"fingers,":[46,109],"the":[47,51,69,81],"process":[49],"of":[50,68,118,128,139],"new":[52],"more":[55],"humanoid":[56],"its":[58,101],"stability":[59],"better.":[61],"Force":[62],"analysis":[63],"size":[65,135],"optimization":[66],"rules":[67],"are":[71,120],"given.":[72],"multi-fingered":[74],"robotic":[75],"hand,":[76,78,133],"developed,":[85],"whose":[86,134],"control":[87],"system":[88],"adopts":[89],"digital":[91],"signal":[92],"processor":[93],"(DSP)":[94],"circuit":[95],"module":[96],"keyboard":[99],"as":[100],"communication":[102],"interface.":[103],"The":[104,124],"hand":[106,130,143,162],"five":[108],"six":[110],"DC":[111],"motors,":[112],"15":[114],"joint":[115,122],"DOF,":[116],"nine":[117],"DOF.":[123],"appearance":[125],"actions":[127],"imitate":[131],"human":[132,140],"1.5":[137],"times":[138],"hand.":[141],"weighs":[144],"1.6":[145],"kg":[146],"can":[148],"objects":[150],"up":[151],"to":[152,165],"0.5":[153],"kg.":[154],"Simulation":[155],"experimental":[157],"results":[158],"show":[159],"that":[160],"able":[164],"realize":[166],"mode":[169],"effectively.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}