{"id":"https://openalex.org/W2804125495","doi":"https://doi.org/10.1145/3208159.3208182","title":"A Methodology to Model and Simulate Customized Realistic Anthropomorphic Robotic Hands","display_name":"A Methodology to Model and Simulate Customized Realistic Anthropomorphic Robotic Hands","publication_year":2018,"publication_date":"2018-05-23","ids":{"openalex":"https://openalex.org/W2804125495","doi":"https://doi.org/10.1145/3208159.3208182","mag":"2804125495"},"language":"en","primary_location":{"id":"doi:10.1145/3208159.3208182","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3208159.3208182","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Computer Graphics International 2018","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3208159.3208182","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100739642","display_name":"Li Tian","orcid":"https://orcid.org/0000-0002-6436-4984"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Li Tian","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015798012","display_name":"Nadia Magnenat\u2010Thalmann","orcid":"https://orcid.org/0000-0002-1459-5960"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Nadia Magnenat-Thalmann","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005709068","display_name":"Dani\u00ebl Thalmann","orcid":"https://orcid.org/0000-0002-0451-7491"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Daniel Thalmann","raw_affiliation_strings":["EPFL, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039953512","display_name":"Jianmin Zheng","orcid":"https://orcid.org/0000-0002-5062-6226"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jianmin Zheng","raw_affiliation_strings":["Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100739642"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.4715,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.82759148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"153","last_page":"162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.996399998664856,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9922999739646912,"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":0.6660977005958557},{"id":"https://openalex.org/keywords/digitization","display_name":"Digitization","score":0.5935402512550354},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5843179821968079},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.56745845079422},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.5671616196632385},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5581105947494507},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.4930817782878876},{"id":"https://openalex.org/keywords/3d-scanning","display_name":"3d scanning","score":0.4892416000366211},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4479828476905823},{"id":"https://openalex.org/keywords/3d-model","display_name":"3d model","score":0.4474732577800751},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.423324853181839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4201529622077942},{"id":"https://openalex.org/keywords/3d-printer","display_name":"3d printer","score":0.41028618812561035},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4100925922393799},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3907405436038971},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2176801860332489},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1496199369430542}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6660977005958557},{"id":"https://openalex.org/C2779308522","wikidata":"https://www.wikidata.org/wiki/Q843958","display_name":"Digitization","level":2,"score":0.5935402512550354},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5843179821968079},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.56745845079422},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.5671616196632385},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5581105947494507},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.4930817782878876},{"id":"https://openalex.org/C3019493240","wikidata":"https://www.wikidata.org/wiki/Q94701573","display_name":"3d scanning","level":2,"score":0.4892416000366211},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4479828476905823},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.4474732577800751},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.423324853181839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4201529622077942},{"id":"https://openalex.org/C2984377249","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printer","level":2,"score":0.41028618812561035},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4100925922393799},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3907405436038971},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2176801860332489},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1496199369430542},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3208159.3208182","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3208159.3208182","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Computer Graphics International 2018","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/138936","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/138936","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":{"id":"doi:10.1145/3208159.3208182","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3208159.3208182","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Computer Graphics International 2018","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3008793621","display_name":null,"funder_award_id":"M4098031","funder_id":"https://openalex.org/F4320320709","funder_display_name":"National Research Foundation Singapore"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"},{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W97186611","https://openalex.org/W1494103311","https://openalex.org/W1508982309","https://openalex.org/W1521959343","https://openalex.org/W1586793705","https://openalex.org/W1815774045","https://openalex.org/W1963795147","https://openalex.org/W1975033238","https://openalex.org/W1994976116","https://openalex.org/W1997560983","https://openalex.org/W2001237545","https://openalex.org/W2014937114","https://openalex.org/W2015746076","https://openalex.org/W2058177231","https://openalex.org/W2061343052","https://openalex.org/W2065615048","https://openalex.org/W2101204737","https://openalex.org/W2104544700","https://openalex.org/W2144573888","https://openalex.org/W2165172284","https://openalex.org/W2185913193","https://openalex.org/W2270743967","https://openalex.org/W2282481780","https://openalex.org/W2416254177","https://openalex.org/W2479437495","https://openalex.org/W2487194101","https://openalex.org/W2581128393","https://openalex.org/W2602059751","https://openalex.org/W2603294612","https://openalex.org/W2613098752","https://openalex.org/W2747578421","https://openalex.org/W2775175830","https://openalex.org/W2968483695","https://openalex.org/W3196769885","https://openalex.org/W4200020081","https://openalex.org/W4206226097","https://openalex.org/W4229945776","https://openalex.org/W6604053674","https://openalex.org/W6695491022"],"related_works":["https://openalex.org/W2314700393","https://openalex.org/W4391520833","https://openalex.org/W2292082415","https://openalex.org/W3116009112","https://openalex.org/W2708417971","https://openalex.org/W2983572945","https://openalex.org/W2957519661","https://openalex.org/W2601594414","https://openalex.org/W3028150529","https://openalex.org/W3032208421"],"abstract_inverted_index":{"When":[0],"building":[1],"robotic":[2,16,24,40,88,117,186,218],"hands,":[3],"researchers":[4],"are":[5,47],"always":[6],"face":[7],"with":[8,179,188],"two":[9,65],"main":[10],"issues":[11,35],"of":[12,58,127,148,201,213],"how":[13,21],"to":[14,22,53,82,115,159,168,191],"make":[15,23],"hands":[17,25],"look":[18],"human-like":[19],"and":[20,49,72,79,106,151],"function":[26],"like":[27],"real":[28],"hands.":[29],"Most":[30],"existing":[31],"solutions":[32,172],"solve":[33,63],"these":[34,64],"by":[36,163],"manually":[37],"modelling":[38,138,171],"the":[39,44,55,99,156,189,207,222],"hand":[41,89,102,187,203,208],"[10-18].":[42],"However,":[43],"design":[45],"processes":[46],"long,":[48],"it":[50,108],"is":[51,132,177],"difficult":[52],"duplicate":[54],"geometry":[56,125],"shape":[57],"a":[59,70,84,92,110,128,199,211],"human":[60,129],"hand.":[61,94],"To":[62],"issues,":[66],"this":[67],"paper":[68],"presents":[69],"simple":[71],"effective":[73],"method":[74,96],"that":[75,144],"combines":[76],"3D":[77,85,100,111,135,149],"printing":[78],"digitization":[80],"techniques":[81],"create":[83],"printable":[86,112],"cable-driven":[87],"from":[90,134],"scanning":[91,150],"physical":[93],"The":[95],"involves":[97],"segmenting":[98],"scanned":[101,157],"model,":[103],"adding":[104],"joints,":[105],"converting":[107],"into":[109],"model.":[113],"Comparing":[114],"other":[116,169],"solutions,":[118],"our":[119,165,175,185,217],"solution":[120,176],"retains":[121],"more":[122],"than":[123],"90%":[124],"information":[126],"hand1,":[130],"which":[131,183],"attained":[133],"scanning.":[136],"Our":[137],"progress":[139],"takes":[140],"around":[141],"15":[142],"minutes":[143,147,153],"include":[145],"10":[146],"five":[152],"for":[154],"changing":[155],"model":[158,162],"an":[160,180],"articulated":[161,170],"running":[164],"algorithm.":[166],"Compared":[167],"[19,":[173],"20],":[174],"compatible":[178],"actuation":[181],"system":[182],"provides":[184],"ability":[190],"mimic":[192],"different":[193],"gestures.":[194],"We":[195],"have":[196],"also":[197],"developed":[198],"way":[200],"representing":[202],"skeletons":[204],"based":[205],"on":[206],"anthropometric.":[209],"As":[210],"proof":[212],"concept,":[214],"we":[215],"demonstrate":[216],"hand's":[219],"performance":[220],"in":[221],"grasping":[223],"experiments.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
