{"id":"https://openalex.org/W4210816290","doi":"https://doi.org/10.3390/robotics11010018","title":"Screwdriving Gripper That Mimics Human Two-Handed Assembly Tasks","display_name":"Screwdriving Gripper That Mimics Human Two-Handed Assembly Tasks","publication_year":2022,"publication_date":"2022-01-27","ids":{"openalex":"https://openalex.org/W4210816290","doi":"https://doi.org/10.3390/robotics11010018"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11010018","pdf_url":"https://www.mdpi.com/2218-6581/11/1/18/pdf?version=1644411902","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/1/18/pdf?version=1644411902","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068698826","display_name":"Sang-Chul Han","orcid":"https://orcid.org/0000-0003-3773-8263"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangchul Han","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":"https://orcid.org/0000-0003-3773-8263","affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055925943","display_name":"Myoung\u2010Su Choi","orcid":"https://orcid.org/0000-0002-5015-4214"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myoung-Su Choi","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":"https://orcid.org/0000-0002-5015-4214","affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083839243","display_name":"Yong-Woo Shin","orcid":"https://orcid.org/0000-0002-2478-6832"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-Woo Shin","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":"https://orcid.org/0000-0002-2478-6832","affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056337226","display_name":"Ga-Ram Jang","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ga-Ram Jang","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002096271","display_name":"Dong\u2010Hyuk Lee","orcid":"https://orcid.org/0000-0001-5982-2445"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Hyuk Lee","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":"https://orcid.org/0000-0001-5982-2445","affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026485905","display_name":"Jungsan Cho","orcid":"https://orcid.org/0000-0002-4548-880X"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungsan Cho","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068836418","display_name":"Jae\u2010Han Park","orcid":"https://orcid.org/0000-0001-5837-3131"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Han Park","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":"https://orcid.org/0000-0001-5837-3131","affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062995411","display_name":"Ji\u2010Hun Bae","orcid":"https://orcid.org/0000-0002-7859-3091"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ji-Hun Bae","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, Ansan 15588, Korea","institution_ids":["https://openalex.org/I89004649"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5062995411"],"corresponding_institution_ids":["https://openalex.org/I89004649"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.486,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60139632,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"11","issue":"1","first_page":"18","last_page":"18"},"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":0.9994999766349792,"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":0.9934999942779541,"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/robot","display_name":"Robot","score":0.5932151079177856},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5353015065193176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4757751524448395},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4651091694831848},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4480573832988739},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4401155710220337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4394940733909607},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4225095212459564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34667110443115234},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34603309631347656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20409485697746277},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08516329526901245}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5932151079177856},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5353015065193176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4757751524448395},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4651091694831848},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4480573832988739},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4401155710220337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4394940733909607},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4225095212459564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34667110443115234},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34603309631347656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20409485697746277},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08516329526901245},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics11010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11010018","pdf_url":"https://www.mdpi.com/2218-6581/11/1/18/pdf?version=1644411902","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:47735b925be7490fa8c5c5a5034263c8","is_oa":true,"landing_page_url":"https://doaj.org/article/47735b925be7490fa8c5c5a5034263c8","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":"Robotics, Vol 11, Iss 1, p 18 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/1/18/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11010018","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 11; Issue 1; Pages: 18","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11010018","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11010018","pdf_url":"https://www.mdpi.com/2218-6581/11/1/18/pdf?version=1644411902","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G745474155","display_name":null,"funder_award_id":"20014558 and 20005024","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4210816290.pdf","grobid_xml":"https://content.openalex.org/works/W4210816290.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1978360037","https://openalex.org/W1994442991","https://openalex.org/W2047066815","https://openalex.org/W2144573888","https://openalex.org/W2296682917","https://openalex.org/W2558807622","https://openalex.org/W2612089457","https://openalex.org/W2625731136","https://openalex.org/W2792901809","https://openalex.org/W2800779097","https://openalex.org/W2807254784","https://openalex.org/W2810773383","https://openalex.org/W2916816443","https://openalex.org/W2954524936","https://openalex.org/W2963661303","https://openalex.org/W2997291874","https://openalex.org/W3036002100","https://openalex.org/W3038216440","https://openalex.org/W3041466979","https://openalex.org/W3048038634","https://openalex.org/W3098414954","https://openalex.org/W3112481608","https://openalex.org/W3115361257","https://openalex.org/W3127172103","https://openalex.org/W3127525943","https://openalex.org/W6779646027"],"related_works":["https://openalex.org/W1976950967","https://openalex.org/W1640559846","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2076754931","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W1564079087"],"abstract_inverted_index":{"Conventional":[0],"assembly":[1,32,60,219,255],"methods":[2],"using":[3,33,220,237],"robots":[4],"need":[5],"to":[6,99,116,200],"change":[7],"end-effectors":[8],"or":[9],"operate":[10],"two":[11,133],"robot":[12,36],"arms":[13],"for":[14,30,59,218,253],"assembly.":[15],"In":[16],"this":[17,120,169],"study,":[18],"we":[19],"propose":[20,104],"a":[21,34,43,62,68,101,105,136,155,160,187,190,216,221,238],"screwdriving":[22,40,56,127,149,184,211,234,247],"gripper":[23,41,107,121,212,230,248],"that":[24,71,163,245],"can":[25,164,249],"perform":[26,250],"the":[27,31,74,78,84,88,93,97,167,174,177,183,201,204,209,228,246,254],"tasks":[28,57,251],"required":[29,58,252],"single":[35,63],"arm.":[37,241],"The":[38,129,148,180,225,242],"proposed":[39,210,229],"mimics":[42],"human-two-handed":[44],"operation":[45],"and":[46,55,80,90,111,126,146,159,194,215,259,262],"has":[47,132,186],"three":[48],"features:":[49],"(1)":[50],"it":[51,66,82],"performs":[52],"pick-and-place,":[53],"peg-in-hole,":[54,261],"with":[61,73,108,135,154,166,189],"gripper;":[64],"(2)":[65],"uses":[67],"flexible":[69,161],"link":[70,162],"complies":[72],"contact":[75],"force":[76],"in":[77],"environment;":[79,168],"(3)":[81],"employs":[83],"same":[85],"joints":[86],"as":[87,257],"pronation":[89,145],"supination":[91],"of":[92,114,124,176,182,203,208,227],"wrist,":[94],"which":[95],"help":[96],"manipulator":[98],"create":[100],"path.":[102],"We":[103],"new":[106],"3":[109],"fingers":[110,134],"12":[112],"degrees":[113],"freedom":[115],"implement":[117],"these":[118],"features;":[119],"is":[122,198,213,223],"composed":[123],"grasping":[125,130],"parts.":[128],"part":[131,150],"roll-yaw-pitch-pitch":[137],"joint":[138,142,157],"configuration.":[139],"Its":[140],"pitch":[141],"implements":[143],"wrist":[144],"supination.":[147],"includes":[151],"one":[152],"finger":[153,185],"roll-pitch-pitch":[156],"configuration":[158],"comply":[165],"facilitates":[170],"compliance":[171],"based":[172],"on":[173],"direction":[175],"external":[178],"force.":[179],"end":[181],"motor":[188],"hex":[191],"key":[192],"attached,":[193],"an":[195],"insert":[196],"tip":[197],"attached":[199],"back":[202],"motor.":[205],"A":[206],"prototype":[207,222],"manufactured,":[214],"strategy":[217],"proposed.":[224],"features":[226],"are":[231],"verified":[232],"through":[233],"task":[235],"experiments":[236,243],"cooperative":[239],"robotic":[240],"showed":[244],"such":[256],"pick":[258],"place,":[260],"screwdriving.":[263]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}