{"id":"https://openalex.org/W2324418439","doi":"https://doi.org/10.1142/s0219843616500043","title":"Towards the Analysis and Optimization of Underactuated Hands for Effective Grasp","display_name":"Towards the Analysis and Optimization of Underactuated Hands for Effective Grasp","publication_year":2016,"publication_date":"2016-04-12","ids":{"openalex":"https://openalex.org/W2324418439","doi":"https://doi.org/10.1142/s0219843616500043","mag":"2324418439"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843616500043","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843616500043","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/A5102237681","display_name":"Lei Hua","orcid":"https://orcid.org/0000-0002-3388-3968"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Hua","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062272467","display_name":"Xinjun Sheng","orcid":"https://orcid.org/0000-0001-6124-8665"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjun Sheng","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101636282","display_name":"Dingguo Zhang","orcid":"https://orcid.org/0000-0003-4803-7489"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dingguo Zhang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078125284","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0003-4914-6636"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Zhu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102237681"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.0712,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.78239534,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"13","issue":"03","first_page":"1650004","last_page":"1650004"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9860000014305115,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9814000129699707,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9806489944458008},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9677549600601196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8022445440292358},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47784730792045593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27329909801483154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21412277221679688},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10393479466438293}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9806489944458008},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9677549600601196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8022445440292358},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47784730792045593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27329909801483154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21412277221679688},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10393479466438293},{"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/s0219843616500043","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843616500043","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W203646791","https://openalex.org/W2054098571","https://openalex.org/W2055256495","https://openalex.org/W2066878366","https://openalex.org/W2071572887","https://openalex.org/W2078568084","https://openalex.org/W2085545845","https://openalex.org/W2112777749","https://openalex.org/W2129476164","https://openalex.org/W2145023193","https://openalex.org/W2155924395","https://openalex.org/W2160906359"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W2324418439","https://openalex.org/W2157487448","https://openalex.org/W2387707337","https://openalex.org/W2078568084","https://openalex.org/W4200004409","https://openalex.org/W2115075640"],"abstract_inverted_index":{"Underactuated":[0],"robotic":[1],"hands":[2,24,72],"get":[3],"a":[4,62,84],"lot":[5],"of":[6,22,46,70,83,93],"attention":[7],"in":[8],"recent":[9],"years.":[10],"In":[11],"order":[12],"to":[13,52],"analyze":[14],"the":[15,39,54,77,91,94],"grasp":[16,29,41,44,64],"ability":[17],"and":[18,43,80],"optimize":[19],"structure":[20,81],"parameters":[21,82],"underactuated":[23,47,71,86],"for":[25],"effective":[26,40],"grasp,":[27],"new":[28,36,55,78],"performance":[30,56,92],"metrics":[31,37,57,79],"have":[32],"been":[33],"defined.":[34],"The":[35],"quantify":[38],"region":[42],"stability":[45],"hands.":[48],"A":[49],"general":[50,85],"method":[51,69],"calculate":[53],"is":[58,73,97],"introduced":[59],"by":[60],"developing":[61],"static":[63],"model.":[65],"Then":[66],"an":[67],"optimization":[68],"proposed":[74],"based":[75],"on":[76],"hand":[87,96],"are":[88],"optimized.":[89],"Finally,":[90],"optimized":[95],"experimentally":[98],"validated.":[99]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}