{"id":"https://openalex.org/W4414957220","doi":"https://doi.org/10.1177/02783649251379516","title":"Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism","display_name":"Tactile SoftHand-A: 3D-printed, tactile, highly underactuated, anthropomorphic robot hand with an antagonistic tendon mechanism","publication_year":2025,"publication_date":"2025-10-08","ids":{"openalex":"https://openalex.org/W4414957220","doi":"https://doi.org/10.1177/02783649251379516"},"language":"en","primary_location":{"id":"doi:10.1177/02783649251379516","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649251379516","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1177/02783649251379516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021915892","display_name":"Haoran Li","orcid":"https://orcid.org/0000-0001-8815-073X"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Haoran Li","raw_affiliation_strings":["University of Bristol","Xi\u2019an Jiaotong-Liverpool University","School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","School of Robotics, Xi\u2019an Jiaotong-Liverpool University, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8815-073X","affiliations":[{"raw_affiliation_string":"University of Bristol","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"Xi\u2019an Jiaotong-Liverpool University","institution_ids":["https://openalex.org/I69356397"]},{"raw_affiliation_string":"School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]},{"raw_affiliation_string":"School of Robotics, Xi\u2019an Jiaotong-Liverpool University, Suzhou, China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103250784","display_name":"Christopher J. Ford","orcid":"https://orcid.org/0000-0002-2720-6872"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher J. Ford","raw_affiliation_strings":["University of Bristol","School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009756422","display_name":"Chenghua Lu","orcid":"https://orcid.org/0009-0004-1495-0389"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenghua Lu","raw_affiliation_strings":["University of Bristol","School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044755774","display_name":"Yijiong Lin","orcid":"https://orcid.org/0000-0002-0063-0905"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yijiong Lin","raw_affiliation_strings":["University of Bristol","School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":"https://orcid.org/0000-0002-0063-0905","affiliations":[{"raw_affiliation_string":"University of Bristol","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004273214","display_name":"Matteo Bianchi","orcid":"https://orcid.org/0000-0003-4747-1697"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bianchi","raw_affiliation_strings":["University of Pisa","Department of Information Engineering and the Research Center \u201cE. Piaggio\u201d, University of Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pisa","institution_ids":["https://openalex.org/I108290504"]},{"raw_affiliation_string":"Department of Information Engineering and the Research Center \u201cE. Piaggio\u201d, University of Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel G. Catalano","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT)","Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1950-6186","affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT)","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013732957","display_name":"Efi Psomopoulou","orcid":"https://orcid.org/0000-0003-3883-4097"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Efi Psomopoulou","raw_affiliation_strings":["University of Bristol","School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":"https://orcid.org/0000-0003-3883-4097","affiliations":[{"raw_affiliation_string":"University of Bristol","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015897265","display_name":"Nathan F. Lepora","orcid":"https://orcid.org/0000-0001-5327-1523"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Nathan F. Lepora","raw_affiliation_strings":["University of Bristol","School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK"],"raw_orcid":"https://orcid.org/0000-0001-5327-1523","affiliations":[{"raw_affiliation_string":"University of Bristol","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"School of Engineering Mathematics and Technology, and Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5015897265"],"corresponding_institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":3.4746,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93149197,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"45","issue":"7","first_page":"1063","last_page":"1090"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9987000226974487,"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/underactuation","display_name":"Underactuation","score":0.779699981212616},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7684999704360962},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6793000102043152},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6431000232696533},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6380000114440918},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6326000094413757},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6100000143051147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5267999768257141},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4860000014305115},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4514000117778778}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.779699981212616},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7684999704360962},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6793000102043152},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6431000232696533},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6380000114440918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6371999979019165},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6326000094413757},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6100000143051147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5307000279426575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5267999768257141},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4860000014305115},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4514000117778778},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42160001397132874},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4205000102519989},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4169999957084656},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39649999141693115},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.3765000104904175},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.35249999165534973},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3499000072479248},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.328000009059906},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3257000148296356},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.32339999079704285},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.3043999969959259},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29260000586509705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28369998931884766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2745000123977661},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2612000107765198},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/02783649251379516","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649251379516","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/3450c728-a5d3-4549-b7f3-9c0bc8b808ca","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/3450c728-a5d3-4549-b7f3-9c0bc8b808ca","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Li, H, Ford, C J, Lu, C, Lin, Y, Bianchi, M, Catalano, M G, Psomopoulou, E & Lepora, N F 2025, 'Tactile SoftHand-A : 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism', International Journal of Robotics Research. https://doi.org/10.1177/02783649251379516","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire/3450c728-a5d3-4549-b7f3-9c0bc8b808ca","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/3450c728-a5d3-4549-b7f3-9c0bc8b808ca","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Li, H, Ford, C J, Lu, C, Lin, Y, Bianchi, M, Catalano, M G, Psomopoulou, E & Lepora, N F 2025, 'Tactile SoftHand-A : 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism', International Journal of Robotics Research. https://doi.org/10.1177/02783649251379516","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1177/02783649251379516","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649251379516","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F42997234","display_name":"Advanced Research and Invention Agency","ror":"https://ror.org/028y4g372"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1505952289","https://openalex.org/W1520726269","https://openalex.org/W1568865333","https://openalex.org/W1967702609","https://openalex.org/W1971320014","https://openalex.org/W2010155751","https://openalex.org/W2032946120","https://openalex.org/W2048058874","https://openalex.org/W2066878366","https://openalex.org/W2079830066","https://openalex.org/W2093847731","https://openalex.org/W2109643917","https://openalex.org/W2129905273","https://openalex.org/W2130007788","https://openalex.org/W2134167019","https://openalex.org/W2158145254","https://openalex.org/W2164575107","https://openalex.org/W2191730565","https://openalex.org/W2261736307","https://openalex.org/W2345411954","https://openalex.org/W2370378640","https://openalex.org/W2415645592","https://openalex.org/W2588211988","https://openalex.org/W2589847876","https://openalex.org/W2593610497","https://openalex.org/W2736676485","https://openalex.org/W2741179917","https://openalex.org/W2765244403","https://openalex.org/W2773160859","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2789995289","https://openalex.org/W2803694791","https://openalex.org/W2857521408","https://openalex.org/W2909761319","https://openalex.org/W2943200793","https://openalex.org/W2967045666","https://openalex.org/W2990424588","https://openalex.org/W2990618452","https://openalex.org/W3011782672","https://openalex.org/W3041466979","https://openalex.org/W3186174046","https://openalex.org/W3207192201","https://openalex.org/W3207781047","https://openalex.org/W4200165096","https://openalex.org/W4200182562","https://openalex.org/W4206693075","https://openalex.org/W4283693873","https://openalex.org/W4309258842","https://openalex.org/W4389352581","https://openalex.org/W4391348866","https://openalex.org/W4394586029","https://openalex.org/W4394698567","https://openalex.org/W4394966816","https://openalex.org/W4403051681","https://openalex.org/W4403182289","https://openalex.org/W4409640700"],"related_works":[],"abstract_inverted_index":{"A":[0,115],"challenging":[1],"and":[2,54,96,124,159,170,193,221],"important":[3],"problem":[4],"for":[5,75,145],"tendon-driven":[6],"multi-fingered":[7],"robotic":[8,40,219],"hands":[9],"is":[10,130],"to":[11,22,51,77,82,86,132,163,174,188,227,230],"ensure":[12],"grasping":[13],"adaptivity":[14],"while":[15],"minimizing":[16],"the":[17,28,43,56,108,127,134,156,160,165,179,185,207,225],"number":[18],"of":[19,68,101,152,212],"actuators":[20],"needed":[21],"provide":[23],"human-like":[24,218],"functionality.":[25],"Inspired":[26],"by":[27],"Pisa/IIT":[29],"SoftHand,":[30],"this":[31,195,204,233],"paper":[32],"introduces":[33],"a":[34,91,98,139,153,175,210],"3D-printed,":[35],"highly":[36],"underactuated,":[37],"tactile-sensorized,":[38],"five-finger":[39],"hand":[41,113,201],"named":[42],"Tactile":[44],"SoftHand-A,":[45],"which":[46],"features":[47],"an":[48,80,88],"antagonistic":[49,135,180],"mechanism":[50,137],"actively":[52],"open":[53],"close":[55],"hand.":[57],"Our":[58],"proposed":[59],"dual-tendon":[60],"design":[61,100],"gives":[62],"options":[63],"that":[64,110,177],"allow":[65],"active":[66],"control":[67,116,198],"specific":[69],"(distal":[70],"or":[71,85],"proximal":[72],"interphalangeal)":[73],"joints;":[74],"example,":[76],"adjust":[78],"from":[79,126,199],"enclosing":[81],"fingertip":[83],"grasp":[84],"manipulate":[87],"object":[89],"with":[90],"fingertip.":[92],"We":[93,148,182],"also":[94,183],"develop":[95],"integrate":[97],"new":[99],"fully":[102],"3D-printed":[103],"vision-based":[104],"tactile":[105,128,161],"sensor":[106],"within":[107],"fingers":[109],"requires":[111],"minimal":[112],"assembly.":[114],"scheme":[117],"based":[118],"on":[119],"analytically":[120],"extracting":[121],"contact":[122,189],"location":[123],"slip":[125],"images":[129],"used":[131],"coordinate":[133],"tendon":[136],"(using":[138],"marker":[140],"displacement":[141],"density":[142],"map,":[143],"suitable":[144],"TacTip-based":[146],"sensors).":[147],"perform":[149],"extensive":[150],"testing":[151],"single":[154],"finger,":[155],"entire":[157],"hand,":[158],"capabilities":[162],"show":[164],"improvements":[166],"in":[167,172],"reactivity,":[168],"load-bearing,":[169],"manipulability":[171],"comparison":[173],"SoftHand":[176],"lacks":[178],"mechanism.":[181],"demonstrate":[184],"hand\u2019s":[186],"reactivity":[187],"disturbances":[190],"including":[191],"slip,":[192],"how":[194],"enables":[196],"teleoperated":[197],"human":[200],"gestures.":[202],"Overall,":[203],"study":[205],"points":[206],"way":[208],"towards":[209],"class":[211],"low-cost,":[213],"accessible,":[214],"3D-printable,":[215],"tactile,":[216],"underactuated":[217],"hands,":[220],"we":[222],"openly":[223],"release":[224],"designs":[226,236],"facilitate":[228],"others":[229],"build":[231],"upon":[232],"work.":[234],"The":[235],"are":[237],"open-sourced":[238],"at":[239],"github.com/HaoranLi-Data/Tactile_SoftHand_A.":[240]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2025-10-10T00:00:00"}