{"id":"https://openalex.org/W4313518934","doi":"https://doi.org/10.3390/robotics12010005","title":"Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review","display_name":"Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review","publication_year":2023,"publication_date":"2023-01-02","ids":{"openalex":"https://openalex.org/W4313518934","doi":"https://doi.org/10.3390/robotics12010005"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12010005","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010005","pdf_url":"https://www.mdpi.com/2218-6581/12/1/5/pdf?version=1673595143","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/2218-6581/12/1/5/pdf?version=1673595143","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049132490","display_name":"Jaime Hernandez","orcid":null},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaime Hernandez","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008796472","display_name":"Md Samiul Haque Sunny","orcid":"https://orcid.org/0000-0002-6584-1877"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Md Samiul Haque Sunny","raw_affiliation_strings":["Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"],"raw_orcid":"https://orcid.org/0000-0002-6584-1877","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058865170","display_name":"Javier Sanjuan","orcid":"https://orcid.org/0000-0001-6631-0085"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Javier Sanjuan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073022325","display_name":"Ivan Rulik","orcid":"https://orcid.org/0000-0002-7448-5755"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ivan Rulik","raw_affiliation_strings":["Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"],"raw_orcid":"https://orcid.org/0000-0002-7448-5755","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034716445","display_name":"Md Ishrak Islam Zarif","orcid":"https://orcid.org/0000-0003-3491-0240"},"institutions":[{"id":"https://openalex.org/I102461120","display_name":"Marquette University","ror":"https://ror.org/04gr4te78","country_code":"US","type":"education","lineage":["https://openalex.org/I102461120"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Md Ishrak Islam Zarif","raw_affiliation_strings":["Department of Computer Science, Marquette University, Milwaukee, WI 53233, USA"],"raw_orcid":"https://orcid.org/0000-0003-3491-0240","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Marquette University, Milwaukee, WI 53233, USA","institution_ids":["https://openalex.org/I102461120"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080676206","display_name":"Sheikh Iqbal Ahamed","orcid":null},"institutions":[{"id":"https://openalex.org/I102461120","display_name":"Marquette University","ror":"https://ror.org/04gr4te78","country_code":"US","type":"education","lineage":["https://openalex.org/I102461120"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sheikh Iqbal Ahamed","raw_affiliation_strings":["Department of Computer Science, Marquette University, Milwaukee, WI 53233, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Marquette University, Milwaukee, WI 53233, USA","institution_ids":["https://openalex.org/I102461120"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079022533","display_name":"Helal Uddin Ahmed","orcid":"https://orcid.org/0000-0003-4106-218X"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Helal Uddin Ahmed","raw_affiliation_strings":["Biorobotics Laboratory, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001664816","display_name":"Mohammad Habibur Rahman","orcid":"https://orcid.org/0000-0002-6370-8757"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad H Rahman","raw_affiliation_strings":["Biorobotics Laboratory, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA","Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"],"raw_orcid":"https://orcid.org/0000-0002-6370-8757","affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]},{"raw_affiliation_string":"Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA","institution_ids":["https://openalex.org/I43579087"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5008796472"],"corresponding_institution_ids":["https://openalex.org/I43579087"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":8.9985,"has_fulltext":true,"cited_by_count":84,"citation_normalized_percentile":{"value":0.98868213,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"12","issue":"1","first_page":"5","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9898999929428101,"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":0.9759221076965332},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5481933355331421},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47250258922576904},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4632701873779297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4161588251590729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36077600717544556},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3314398527145386},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1954895257949829}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9759221076965332},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5481933355331421},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47250258922576904},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4632701873779297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4161588251590729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36077600717544556},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3314398527145386},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1954895257949829},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12010005","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010005","pdf_url":"https://www.mdpi.com/2218-6581/12/1/5/pdf?version=1673595143","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:f2fd82c8afcd420686d2195a6eeac631","is_oa":true,"landing_page_url":"https://doaj.org/article/f2fd82c8afcd420686d2195a6eeac631","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 12, Iss 1, p 5 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/1/5/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12010005","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/robotics12010005","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010005","pdf_url":"https://www.mdpi.com/2218-6581/12/1/5/pdf?version=1673595143","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":0.6700000166893005,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G3297147433","display_name":null,"funder_award_id":"90DPGE0018-01-00","funder_id":"https://openalex.org/F4320337604","funder_display_name":"National Institute on Disability, Independent Living, and Rehabilitation Research"}],"funders":[{"id":"https://openalex.org/F4320337604","display_name":"National Institute on Disability, Independent Living, and Rehabilitation Research","ror":"https://ror.org/033jnv181"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313518934.pdf","grobid_xml":"https://content.openalex.org/works/W4313518934.grobid-xml"},"referenced_works_count":106,"referenced_works":["https://openalex.org/W34744644","https://openalex.org/W1521732971","https://openalex.org/W1654183954","https://openalex.org/W1820657498","https://openalex.org/W1902605501","https://openalex.org/W1982204952","https://openalex.org/W1999375810","https://openalex.org/W2002236162","https://openalex.org/W2007924815","https://openalex.org/W2010745100","https://openalex.org/W2012866104","https://openalex.org/W2053372911","https://openalex.org/W2054912718","https://openalex.org/W2055256495","https://openalex.org/W2061589176","https://openalex.org/W2064110822","https://openalex.org/W2064582495","https://openalex.org/W2079574144","https://openalex.org/W2104339913","https://openalex.org/W2117197536","https://openalex.org/W2134167019","https://openalex.org/W2139811605","https://openalex.org/W2145657347","https://openalex.org/W2148066306","https://openalex.org/W2207371276","https://openalex.org/W2296682917","https://openalex.org/W2343757578","https://openalex.org/W2432137114","https://openalex.org/W2519437300","https://openalex.org/W2527158251","https://openalex.org/W2528126647","https://openalex.org/W2539902758","https://openalex.org/W2542710067","https://openalex.org/W2547662283","https://openalex.org/W2556078315","https://openalex.org/W2560730116","https://openalex.org/W2586716914","https://openalex.org/W2619174355","https://openalex.org/W2623551786","https://openalex.org/W2624234790","https://openalex.org/W2687523990","https://openalex.org/W2740763895","https://openalex.org/W2761613270","https://openalex.org/W2765512466","https://openalex.org/W2771793291","https://openalex.org/W2780370386","https://openalex.org/W2783801667","https://openalex.org/W2789286234","https://openalex.org/W2789995289","https://openalex.org/W2792901809","https://openalex.org/W2799487264","https://openalex.org/W2803552085","https://openalex.org/W2808191374","https://openalex.org/W2808508330","https://openalex.org/W2889408963","https://openalex.org/W2889998688","https://openalex.org/W2898915881","https://openalex.org/W2906611782","https://openalex.org/W2908788763","https://openalex.org/W2912184901","https://openalex.org/W2912280145","https://openalex.org/W2913739612","https://openalex.org/W2916816443","https://openalex.org/W2933853062","https://openalex.org/W2943251642","https://openalex.org/W2979360055","https://openalex.org/W2997291874","https://openalex.org/W3006045975","https://openalex.org/W3008027823","https://openalex.org/W3030285994","https://openalex.org/W3036117292","https://openalex.org/W3037067198","https://openalex.org/W3037772340","https://openalex.org/W3038216440","https://openalex.org/W3041466979","https://openalex.org/W3048038634","https://openalex.org/W3048356206","https://openalex.org/W3048923089","https://openalex.org/W3081268564","https://openalex.org/W3082269708","https://openalex.org/W3094149182","https://openalex.org/W3094235490","https://openalex.org/W3095984713","https://openalex.org/W3098414954","https://openalex.org/W3099210232","https://openalex.org/W3099926824","https://openalex.org/W3115114331","https://openalex.org/W3115733042","https://openalex.org/W3119155652","https://openalex.org/W3120546919","https://openalex.org/W3129100413","https://openalex.org/W3136130311","https://openalex.org/W3158254126","https://openalex.org/W3161005046","https://openalex.org/W3167055807","https://openalex.org/W3185525136","https://openalex.org/W3186125799","https://openalex.org/W3197637398","https://openalex.org/W3215441456","https://openalex.org/W4292341421","https://openalex.org/W6601427346","https://openalex.org/W6638750020","https://openalex.org/W6675011692","https://openalex.org/W6744464932","https://openalex.org/W6751240421","https://openalex.org/W6779646027"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2078285315","https://openalex.org/W2527333706","https://openalex.org/W2808090143","https://openalex.org/W2964156592","https://openalex.org/W2259778155","https://openalex.org/W1640559846"],"abstract_inverted_index":{"Recent":[0],"technological":[1],"advances":[2],"enable":[3],"gripper-equipped":[4],"robots":[5],"to":[6,41,65,76,93],"perform":[7],"many":[8,42,58],"tasks":[9,59],"traditionally":[10],"associated":[11],"with":[12,78,118,130],"the":[13,17,29,47,53,69,79,95,110,127,131],"human":[14,80],"hand,":[15],"allowing":[16],"use":[18],"of":[19,25,46,49,89,99,114,134],"grippers":[20,50,64,92],"in":[21],"a":[22,86],"wide":[23],"range":[24],"applications.":[26],"Depending":[27],"on":[28,52],"application,":[30],"an":[31],"ideal":[32],"gripper":[33,101,106,128],"design":[34,129],"should":[35,125],"be":[36,126],"affordable,":[37],"energy-efficient,":[38],"and":[39,71,97,121],"adaptable":[40],"situations.":[43],"However,":[44],"regardless":[45],"number":[48],"available":[51],"market,":[54],"there":[55],"are":[56,61],"still":[57],"that":[60],"difficult":[62],"for":[63,73],"perform,":[66],"which":[67,124],"indicates":[68],"demand":[70],"room":[72],"new":[74],"designs":[75,107],"compete":[77],"hand.":[81],"Thus,":[82],"this":[83],"paper":[84],"provides":[85],"comprehensive":[87],"review":[88],"robotic":[90],"arm":[91],"identify":[94],"benefits":[96],"drawbacks":[98],"various":[100],"designs.":[102],"The":[103],"research":[104],"compares":[105],"by":[108],"considering":[109],"actuation":[111],"mechanism,":[112],"degrees":[113],"freedom,":[115],"grasping":[116],"capabilities":[117],"multiple":[119],"objects,":[120],"applications,":[122],"concluding":[123],"broader":[132],"set":[133],"capabilities.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":19}],"updated_date":"2026-04-26T08:31:28.666265","created_date":"2025-10-10T00:00:00"}