{"id":"https://openalex.org/W2020251869","doi":"https://doi.org/10.1177/02783649922066673","title":"Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results","display_name":"Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results","publication_year":1999,"publication_date":"1999-09-01","ids":{"openalex":"https://openalex.org/W2020251869","doi":"https://doi.org/10.1177/02783649922066673","mag":"2020251869"},"language":"en","primary_location":{"id":"doi:10.1177/02783649922066673","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066673","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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050878229","display_name":"Nicholas Xydas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicholas Xydas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5045142251","display_name":"Imin Kao","orcid":"https://orcid.org/0000-0003-1658-9166"},"institutions":[{"id":"https://openalex.org/I1327163397","display_name":"State University of New York","ror":"https://ror.org/01q1z8k08","country_code":"US","type":"education","lineage":["https://openalex.org/I1327163397"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Imin Kao","raw_affiliation_strings":["Manufacturing Automation Laboratory, Department of Mechanical                         Engineering, The State University of New York, Stony Brook, New York                         11794-2300, USA","Manufacturing Automation Laboratory, Department of Mechanical Engineering, The State University of New York, Stony Brook, New York 11794-2300, USA"],"affiliations":[{"raw_affiliation_string":"Manufacturing Automation Laboratory, Department of Mechanical                         Engineering, The State University of New York, Stony Brook, New York                         11794-2300, USA","institution_ids":["https://openalex.org/I1327163397"]},{"raw_affiliation_string":"Manufacturing Automation Laboratory, Department of Mechanical Engineering, The State University of New York, Stony Brook, New York 11794-2300, USA","institution_ids":["https://openalex.org/I1327163397"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045142251"],"corresponding_institution_ids":["https://openalex.org/I1327163397"],"apc_list":null,"apc_paid":null,"fwci":5.4986,"has_fulltext":false,"cited_by_count":252,"citation_normalized_percentile":{"value":0.95325077,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"18","issue":"9","first_page":"941","last_page":"950"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.996999979019165,"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/contact-mechanics","display_name":"Contact mechanics","score":0.7350841164588928},{"id":"https://openalex.org/keywords/normal-force","display_name":"Normal force","score":0.5753792524337769},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5570588111877441},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.5053284764289856},{"id":"https://openalex.org/keywords/contact-area","display_name":"Contact area","score":0.4976368248462677},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.46193233132362366},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.458863228559494},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3943401277065277},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32765695452690125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3112017810344696},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2690095007419586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2559196352958679},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2550368010997772},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24830591678619385},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2118152379989624},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.2018842101097107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16118881106376648},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15786346793174744}],"concepts":[{"id":"https://openalex.org/C179909247","wikidata":"https://www.wikidata.org/wiki/Q1783143","display_name":"Contact mechanics","level":3,"score":0.7350841164588928},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.5753792524337769},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5570588111877441},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.5053284764289856},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.4976368248462677},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.46193233132362366},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.458863228559494},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3943401277065277},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32765695452690125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3112017810344696},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2690095007419586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2559196352958679},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2550368010997772},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24830591678619385},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2118152379989624},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2018842101097107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16118881106376648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15786346793174744}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649922066673","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066673","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1635062593","https://openalex.org/W1756762256","https://openalex.org/W1815221701","https://openalex.org/W1974209707","https://openalex.org/W1994489679","https://openalex.org/W1996160600","https://openalex.org/W2005909424","https://openalex.org/W2006730584","https://openalex.org/W2018459510","https://openalex.org/W2018853532","https://openalex.org/W2029342956","https://openalex.org/W2037127091","https://openalex.org/W2048484394","https://openalex.org/W2062476442","https://openalex.org/W2081987645","https://openalex.org/W2086983719","https://openalex.org/W2119659507","https://openalex.org/W2122056155","https://openalex.org/W2127642969","https://openalex.org/W2149175962","https://openalex.org/W2166831879","https://openalex.org/W2591181672","https://openalex.org/W2801179766"],"related_works":["https://openalex.org/W2057782916","https://openalex.org/W2960465969","https://openalex.org/W1937425712","https://openalex.org/W1997603075","https://openalex.org/W2522763245","https://openalex.org/W3097675685","https://openalex.org/W1984993747","https://openalex.org/W2035069628","https://openalex.org/W2076123197","https://openalex.org/W4250804020"],"abstract_inverted_index":{"A":[0],"new":[1,66],"theory":[2,67,86,108],"in":[3,211],"contact":[4,25,47,71,205],"mechanics":[5],"for":[6,26,73,101,112,172,186],"modeling":[7],"of":[8,24,46,92,150,156,178,192,207],"soft":[9,27,89,174,187],"fingers":[10,28,90,103,188],"is":[11,48],"proposed":[12],"to":[13,50,55,63,83,146,201],"define":[14],"the":[15,18,22,44,51,56,69,85,130,136,141,147,154,157,161,164,179,183,190],"relationship":[16],"between":[17],"normal":[19,52,148],"force":[20,53,139],"and":[21,36,98,132,140,182,197,203,209],"radius":[23,45],"by":[29,126],"considering":[30],"general":[31],"soft-finger":[32],"materials,":[33,76],"including":[34],"linearly":[35],"nonlinearly":[37],"elastic":[38,75],"materials.":[39],"The":[40,118,176],"results":[41,155,177],"show":[42],"that":[43],"proportional":[49],"raised":[54],"power":[57],"of,":[58],"which":[59],"ranges":[60],"from":[61],"0":[62],"1/3.":[64,79],"This":[65,107],"subsumes":[68],"Hertzian":[70],"model":[72,159,181],"linear":[74],"where":[77],"D":[78],"Experiments":[80],"are":[81,104],"conducted":[82],"validate":[84],"using":[87],"artificial":[88],"made":[91],"various":[93],"materials":[94],"such":[95],"as":[96,135],"rubber":[97],"silicone.":[99],"Results":[100],"human":[102],"also":[105],"compared.":[106],"provides":[109],"a":[110],"basis":[111],"numerically":[113],"constructing":[114],"friction":[115,120,138,166,194],"limit":[116,121,167,195],"surfaces.":[117],"numerical":[119,193],"surface":[122,168],"can":[123,169],"be":[124,170],"approximated":[125],"an":[127],"ellipse,":[128],"with":[129,144,160],"major":[131],"minor":[133],"axes":[134],"maximum":[137,142],"moment":[143],"respect":[145],"axis":[149],"contact,":[151],"respectively.":[152],"Combining":[153],"contactmechanics":[158],"contact-pressure":[162],"distribution,":[163],"normalized":[165],"derived":[171],"anthropomorphic":[173],"fingers.":[175],"contact-mechanics":[180],"pressure":[184],"distribution":[185],"facilitate":[189],"construction":[191],"surfaces,":[196],"will":[198],"enable":[199],"us":[200],"analyze":[202],"simulate":[204],"behaviors":[206],"grasping":[208],"manipulation":[210],"robotics.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":5}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}
