{"id":"https://openalex.org/W4401082401","doi":"https://doi.org/10.3390/robotics13080116","title":"Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling","display_name":"Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling","publication_year":2024,"publication_date":"2024-07-28","ids":{"openalex":"https://openalex.org/W4401082401","doi":"https://doi.org/10.3390/robotics13080116"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13080116","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080116","pdf_url":null,"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://doi.org/10.3390/robotics13080116","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103044518","display_name":"Sheng-Guan Lin","orcid":"https://orcid.org/0009-0009-3750-656X"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Sheng-Guan Lin","raw_affiliation_strings":["Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan"],"raw_orcid":"https://orcid.org/0009-0009-3750-656X","affiliations":[{"raw_affiliation_string":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan","institution_ids":["https://openalex.org/I25846049"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041380617","display_name":"Jen-Yuan Chang","orcid":"https://orcid.org/0000-0001-8560-1777"},"institutions":[{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]},{"id":"https://openalex.org/I40689657","display_name":"National Formosa University","ror":"https://ror.org/00q523p52","country_code":"TW","type":"education","lineage":["https://openalex.org/I40689657"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Jen-Yuan (James) Chang","raw_affiliation_strings":["Department of Mechanical and Computer-Aided Engineering, National Formosa University, Yunlin 63201, Taiwan","Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-8560-1777","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Computer-Aided Engineering, National Formosa University, Yunlin 63201, Taiwan","institution_ids":["https://openalex.org/I40689657"]},{"raw_affiliation_string":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan","institution_ids":["https://openalex.org/I25846049"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041380617"],"corresponding_institution_ids":["https://openalex.org/I25846049","https://openalex.org/I40689657"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.1735,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45272873,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"13","issue":"8","first_page":"116","last_page":"116"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10653","display_name":"Robot Manipulation and Learning","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9905999898910522,"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/actuator","display_name":"Actuator","score":0.8524515628814697},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8022114038467407},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6819334030151367},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6576856970787048},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5387870073318481},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5137292146682739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44405218958854675},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4258491098880768},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3713298738002777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2259085476398468}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8524515628814697},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8022114038467407},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6819334030151367},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6576856970787048},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5387870073318481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5137292146682739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44405218958854675},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4258491098880768},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3713298738002777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2259085476398468},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13080116","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080116","pdf_url":null,"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:da70f930cb2f48aca6d1cf06616d8b23","is_oa":true,"landing_page_url":"https://doaj.org/article/da70f930cb2f48aca6d1cf06616d8b23","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 8, p 116 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13080116","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080116","pdf_url":null,"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":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G6540501000","display_name":null,"funder_award_id":"NSTC 112-2218-E-007-017","funder_id":"https://openalex.org/F2461203286","funder_display_name":"National Science and Technology Council"}],"funders":[{"id":"https://openalex.org/F2461203286","display_name":"National Science and Technology Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1767656890","https://openalex.org/W1888892744","https://openalex.org/W1969451263","https://openalex.org/W1984187759","https://openalex.org/W1985124115","https://openalex.org/W2125188427","https://openalex.org/W2221042626","https://openalex.org/W2246023205","https://openalex.org/W2296682917","https://openalex.org/W2539246396","https://openalex.org/W2783420965","https://openalex.org/W2935599202","https://openalex.org/W2942096073","https://openalex.org/W2945932601","https://openalex.org/W2954524936","https://openalex.org/W2964507111","https://openalex.org/W2979381710","https://openalex.org/W3008564376","https://openalex.org/W3028813881","https://openalex.org/W3080675481","https://openalex.org/W3097811132","https://openalex.org/W3136130311","https://openalex.org/W3213189848","https://openalex.org/W4280650789","https://openalex.org/W4311413036","https://openalex.org/W4365448660","https://openalex.org/W4385576789","https://openalex.org/W4388308779","https://openalex.org/W4396921689","https://openalex.org/W4400056381"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"This":[0,103],"study":[1],"introduces":[2],"a":[3],"novel":[4],"modular":[5,30],"soft":[6,49],"actuator":[7,78,146],"designed":[8],"for":[9,18,135,144],"an":[10],"anthropomorphic":[11],"robotic":[12,161],"finger":[13],"that":[14],"addresses":[15],"the":[16,77,97,120,126,154],"need":[17],"adaptive":[19,91],"behavior":[20],"and":[21,60,63,69,87,107,117,130,159],"precise":[22,112,158],"joint-angle":[23],"control.":[24],"The":[25,74,139],"key":[26],"innovation":[27],"is":[28,54,79],"its":[29,82,88,151],"design,":[31],"which":[32],"enables":[33],"independent":[34],"pressure":[35],"regulation":[36],"in":[37,84,99,147,153],"each":[38,72,100],"air":[39,101],"chamber,":[40],"thus":[41,64],"achieving":[42],"superior":[43],"precision":[44],"compared":[45],"to":[46,56,110],"traditional":[47],"PneuNets":[48],"actuators.":[50],"A":[51],"rigid":[52],"skeleton":[53],"integrated":[55],"enhance":[57],"force":[58,67],"transmission":[59,70],"measurement":[61],"capabilities":[62],"ensure":[65,111],"effective":[66],"handling":[68],"within":[71],"module.":[73],"versatility":[75],"of":[76,114,157],"demonstrated":[80],"through":[81],"adaptability":[83],"various":[85],"scenarios,":[86],"features":[89],"include":[90],"positional":[92],"control":[93,113],"achieved":[94],"by":[95],"modulating":[96],"inflation":[98],"chamber.":[102],"research":[104],"includes":[105],"kinematic":[106],"kinetostatic":[108],"analyses":[109],"joint":[115],"angles":[116],"forces":[118],"at":[119],"finger\u2019s":[121],"endpoint.":[122],"Experimental":[123],"results":[124],"confirm":[125],"actuator\u2019s":[127],"excellent":[128],"performance":[129],"adaptability,":[131],"providing":[132],"valuable":[133],"insights":[134],"advancing":[136],"soft-actuator":[137],"technology.":[138],"findings":[140],"suggest":[141],"significant":[142],"potential":[143],"this":[145],"diverse":[148],"applications,":[149],"emphasizing":[150],"role":[152],"future":[155],"development":[156],"adaptable":[160],"systems.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}