{"id":"https://openalex.org/W4366221226","doi":"https://doi.org/10.3389/frobt.2023.1066516","title":"A compact underactuated gripper with two fingers and a retractable suction cup","display_name":"A compact underactuated gripper with two fingers and a retractable suction cup","publication_year":2023,"publication_date":"2023-04-17","ids":{"openalex":"https://openalex.org/W4366221226","doi":"https://doi.org/10.3389/frobt.2023.1066516","pmid":"https://pubmed.ncbi.nlm.nih.gov/37138843"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1066516","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1066516","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2023.1066516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072830418","display_name":"Julien Courchesne","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Julien Courchesne","raw_affiliation_strings":["Laboratoire de robotique, D\u00e9partement de g\u00e9nie m\u00e9canique, Universit\u00e9 Laval, Quebec City, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Laboratoire de robotique, D\u00e9partement de g\u00e9nie m\u00e9canique, Universit\u00e9 Laval, Quebec City, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047224175","display_name":"Philippe Cardou","orcid":"https://orcid.org/0000-0002-8381-3845"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Philippe Cardou","raw_affiliation_strings":["Laboratoire de robotique, D\u00e9partement de g\u00e9nie m\u00e9canique, Universit\u00e9 Laval, Quebec City, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Laboratoire de robotique, D\u00e9partement de g\u00e9nie m\u00e9canique, Universit\u00e9 Laval, Quebec City, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075957887","display_name":"Palamanga Abdoul Rachide Onadja","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Palamanga Abdoul Rachide Onadja","raw_affiliation_strings":["Laboratoire de robotique, D\u00e9partement de g\u00e9nie m\u00e9canique, Universit\u00e9 Laval, Quebec City, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Laboratoire de robotique, D\u00e9partement de g\u00e9nie m\u00e9canique, Universit\u00e9 Laval, Quebec City, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072830418"],"corresponding_institution_ids":["https://openalex.org/I43406934"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.6885,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83555754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"1066516","last_page":"1066516"},"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":0.9998999834060669,"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":0.9979000091552734,"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/grippers","display_name":"Grippers","score":0.9560058116912842},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.6944121718406677},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6768723130226135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6235237717628479},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5936154723167419},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5722652673721313},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.565894603729248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.448871910572052},{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.44618621468544006},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.44472160935401917},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4382103681564331},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22715076804161072}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9560058116912842},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.6944121718406677},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6768723130226135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6235237717628479},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5936154723167419},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5722652673721313},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.565894603729248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.448871910572052},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.44618621468544006},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.44472160935401917},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4382103681564331},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22715076804161072}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1066516","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1066516","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:37138843","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37138843","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10149965","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10149965","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10149965/pdf/frobt-10-1066516.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:591791fc8d8c49a787e9177496b4b1d2","is_oa":true,"landing_page_url":"https://doaj.org/article/591791fc8d8c49a787e9177496b4b1d2","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1066516","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1066516","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5}],"awards":[{"id":"https://openalex.org/G3073281705","display_name":null,"funder_award_id":"EP/S032428/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1999375810","https://openalex.org/W2033246370","https://openalex.org/W2155337985","https://openalex.org/W2460932557","https://openalex.org/W2943200793","https://openalex.org/W2966615203","https://openalex.org/W2991442657","https://openalex.org/W2998744924","https://openalex.org/W3004078761","https://openalex.org/W6744542307","https://openalex.org/W6772317664"],"related_works":["https://openalex.org/W2069698258","https://openalex.org/W2922139741","https://openalex.org/W3015892747","https://openalex.org/W2184561751","https://openalex.org/W2096780166","https://openalex.org/W2096907041","https://openalex.org/W2563631870","https://openalex.org/W4286579638","https://openalex.org/W2772679390","https://openalex.org/W4229079358"],"abstract_inverted_index":{"Modern":[0],"industrial":[1],"applications":[2],"of":[3,25,42,114,165,209,213,220],"robotics":[4],"such":[5],"as":[6,154,176],"small-series":[7],"production":[8],"and":[9,65,71,150,162,183,225],"automated":[10],"warehousing":[11],"require":[12],"versatile":[13],"grippers,":[14],"i.e.,":[15],"grippers":[16,64],"that":[17,128,208],"can":[18,129],"pick":[19,95,132],"up":[20,96,133],"the":[21,40,43,52,81,106,112,140,148,157,166,179,181,184,195,210,214,221],"widest":[22],"possible":[23],"variety":[24],"objects.":[26],"These":[27],"objects":[28,97,134],"must":[29],"often":[30,88],"be":[31],"grasped":[32],"or":[33,91],"placed":[34],"inside":[35,98,111,135],"a":[36,72,103,115,125,172,231],"container,":[37],"which":[38,206],"limits":[39],"size":[41],"gripper.":[44],"In":[45],"this":[46,77],"article,":[47],"we":[48,101],"propose":[49],"to":[50,60,94,131,155,193,203],"combine":[51],"two":[53,141],"most":[54],"popular":[55],"gripper":[56,85,104,158,167,197,222],"technologies":[57],"in":[58,80,230],"order":[59],"maximise":[61],"versatility:":[62],"finger":[63,149],"suction-cup":[66],"(vacuum)":[67],"grippers.":[68],"Many":[69],"researchers":[70],"few":[73],"companies":[74],"have":[75],"followed":[76],"same":[78],"idea":[79],"past,":[82],"but":[83],"their":[84],"designs":[86],"are":[87],"overly":[89],"complex":[90],"too":[92],"bulky":[93],"containers.":[99],"Here,":[100],"develop":[102],"where":[105],"suction":[107,120,185],"cup":[108,121,186],"is":[109,122,168,191,207,223,228],"lodged":[110],"palm":[113],"two-finger":[116],"robotic":[117],"hand.":[118],"The":[119,160],"mounted":[123],"on":[124],"retractile":[126],"rod":[127],"extend":[130],"containers":[136],"without":[137],"interference":[138],"from":[139],"fingers.":[142],"A":[143,218],"single":[144],"actuator":[145],"drives":[146],"both":[147],"sliding-rod":[151],"motions":[152],"so":[153],"minimise":[156,194],"complexity.":[159],"opening":[161],"closing":[163],"sequence":[164],"achieved":[169],"by":[170],"using":[171],"planetary":[173],"gear":[174],"train":[175],"transmission":[177],"between":[178],"actuator,":[180],"fingers":[182],"sliding":[187],"mechanism.":[188],"Special":[189],"attention":[190],"paid":[192],"overall":[196],"size;":[198],"its":[199,226],"diameter":[200],"being":[201],"kept":[202],"75":[204],"mm,":[205],"end":[211],"link":[212],"common":[215],"UR5":[216],"robot.":[217],"prototype":[219],"built":[224],"versatility":[227],"demonstrated":[229],"short":[232],"accompanying":[233],"video.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}