{"id":"https://openalex.org/W4306835746","doi":"https://doi.org/10.3390/robotics11050115","title":"An Educational Test Rig for Kinesthetic Learning of Mechanisms for Underactuated Robotic Hands","display_name":"An Educational Test Rig for Kinesthetic Learning of Mechanisms for Underactuated Robotic Hands","publication_year":2022,"publication_date":"2022-10-19","ids":{"openalex":"https://openalex.org/W4306835746","doi":"https://doi.org/10.3390/robotics11050115"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11050115","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050115","pdf_url":"https://www.mdpi.com/2218-6581/11/5/115/pdf?version=1666606767","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/2218-6581/11/5/115/pdf?version=1666606767","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042383515","display_name":"Gabriele Maria Achilli","orcid":"https://orcid.org/0000-0002-6369-2978"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Achilli","raw_affiliation_strings":["Department of Engineering, University of Perugia, Via G. Duranti, 06125 Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6369-2978","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Via G. Duranti, 06125 Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050648741","display_name":"Silvia Logozzo","orcid":"https://orcid.org/0000-0003-1624-9700"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Silvia Logozzo","raw_affiliation_strings":["Department of Engineering, University of Perugia, Via G. Duranti, 06125 Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1624-9700","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Via G. Duranti, 06125 Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028450913","display_name":"Maria Cristina Valigi","orcid":"https://orcid.org/0000-0002-4207-6340"},"institutions":[{"id":"https://openalex.org/I27483092","display_name":"University of Perugia","ror":"https://ror.org/00x27da85","country_code":"IT","type":"education","lineage":["https://openalex.org/I27483092"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Valigi","raw_affiliation_strings":["Department of Engineering, University of Perugia, Via G. Duranti, 06125 Perugia, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4207-6340","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Perugia, Via G. Duranti, 06125 Perugia, Italy","institution_ids":["https://openalex.org/I27483092"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050648741"],"corresponding_institution_ids":["https://openalex.org/I27483092"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.8505,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72180985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"5","first_page":"115","last_page":"115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996999979019165,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9948999881744385,"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/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.9156316518783569},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7373955249786377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6565120220184326},{"id":"https://openalex.org/keywords/test","display_name":"Test (biology)","score":0.6194883584976196},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.469682514667511},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4521895945072174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4448372423648834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4214057922363281},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3537878692150116},{"id":"https://openalex.org/keywords/mathematics-education","display_name":"Mathematics education","score":0.2186235785484314},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.20774942636489868}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.9156316518783569},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7373955249786377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6565120220184326},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.6194883584976196},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.469682514667511},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4521895945072174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4448372423648834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4214057922363281},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3537878692150116},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.2186235785484314},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20774942636489868},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics11050115","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050115","pdf_url":"https://www.mdpi.com/2218-6581/11/5/115/pdf?version=1666606767","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:a1eab878c0cd49d8afbdd19c49a80543","is_oa":true,"landing_page_url":"https://doaj.org/article/a1eab878c0cd49d8afbdd19c49a80543","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 5, p 115 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/5/115/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11050115","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11050115","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050115","pdf_url":"https://www.mdpi.com/2218-6581/11/5/115/pdf?version=1666606767","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":[{"score":0.8100000023841858,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4306835746.pdf","grobid_xml":"https://content.openalex.org/works/W4306835746.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W59193364","https://openalex.org/W1510186039","https://openalex.org/W1531243602","https://openalex.org/W2003349240","https://openalex.org/W2007170601","https://openalex.org/W2120353831","https://openalex.org/W2730344646","https://openalex.org/W2804992591","https://openalex.org/W2896799471","https://openalex.org/W2899000213","https://openalex.org/W2906619185","https://openalex.org/W2946121374","https://openalex.org/W2949469493","https://openalex.org/W2964632916","https://openalex.org/W2995958947","https://openalex.org/W2999982210","https://openalex.org/W3028072303","https://openalex.org/W3112481608","https://openalex.org/W3113934467","https://openalex.org/W3119950386","https://openalex.org/W3130821593","https://openalex.org/W3164541113","https://openalex.org/W3194465025","https://openalex.org/W3213247308","https://openalex.org/W4213353541","https://openalex.org/W4223975933","https://openalex.org/W4225125878","https://openalex.org/W4232559030","https://openalex.org/W4238401550","https://openalex.org/W4280652461","https://openalex.org/W6681854753","https://openalex.org/W6757370481"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2921166921","https://openalex.org/W4385174651","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W4255446267","https://openalex.org/W2133182130"],"abstract_inverted_index":{"Teaching":[0],"robotics":[1,191],"requires":[2],"interdisciplinary":[3],"skills":[4],"and":[5,11,30,74,93,109,124,158,186],"a":[6,90,99,120,146,193],"good":[7,91],"creativity,":[8],"providing":[9],"instructions":[10],"hands-on":[12],"experiences,":[13],"exploiting":[14,196],"different":[15],"kinds":[16,20],"of":[17,21,38,85,111,141,163],"learning.":[18],"Two":[19],"learning":[22,53,198],"methods":[23],"are":[24],"commonly":[25],"used:":[26],"the":[27,31,36,56,72,83,107,161,184],"\u2018visual":[28],"learning\u2019":[29],"\u2018auditory":[32],"learning\u2019,":[33,58],"recognizable":[34],"by":[35,69,75,155,203],"preference":[37],"an":[39,95,112],"approach":[40,190],"for":[41,45,101,183],"images,":[42],"rather":[43],"than":[44],"texts,":[46],"or":[47,175],"oral":[48],"explanations.":[49],"A":[50],"third":[51],"possible":[52],"style":[54],"is":[55,64,89,201],"\u2018kinesthetic":[57],"based":[59],"on":[60,106],"tactile":[61],"activities,":[62],"which":[63],"generally":[65],"least":[66],"exploited,":[67],"both":[68],"teachers":[70],"in":[71,165,192],"classroom":[73],"students":[76,164,172,185],"during":[77],"individual":[78],"study.":[79],"In":[80],"this":[81],"perspective,":[82],"use":[84],"educational":[86,113],"test":[87,114,151,204],"rigs":[88],"practice":[92],"adds":[94],"opportunity":[96],"to":[97,130,135,170,189],"share":[98],"passion":[100],"robotics.":[102],"The":[103,149],"paper":[104],"focuses":[105],"realization":[108],"application":[110],"rig":[115],"aimed":[116],"at":[117],"explaining":[118],"how":[119,125],"differential":[121,150],"mechanism":[122],"works":[123],"it":[126,200],"can":[127],"be":[128],"applied":[129],"robotic":[131,138,174],"underactuated":[132],"soft":[133],"grippers":[134],"move":[136],"multiple":[137],"fingers":[139],"independently":[140],"each":[142],"other":[143],"using":[144],"just":[145],"single":[147],"actuator.":[148],"bench":[152],"was":[153,180],"realized":[154],"3D":[156],"printing":[157],"mounted":[159],"with":[160],"help":[162],"high":[166],"school":[167],"seminaries":[168],"oriented":[169],"encourage":[171],"towards":[173],"mechatronic":[176],"studies.":[177],"This":[178],"activity":[179],"very":[181],"thrilling":[182],"helped":[187],"them":[188],"natural":[194],"way,":[195],"kinesthetic":[197],"as":[199],"demonstrated":[202],"results.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
