{"id":"https://openalex.org/W2900984796","doi":"https://doi.org/10.3390/robotics8010007","title":"A Systematic Approach to Evaluating and Benchmarking Robotic Hands\u2014The FFP Index","display_name":"A Systematic Approach to Evaluating and Benchmarking Robotic Hands\u2014The FFP Index","publication_year":2019,"publication_date":"2019-01-29","ids":{"openalex":"https://openalex.org/W2900984796","doi":"https://doi.org/10.3390/robotics8010007","mag":"2900984796"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8010007","pdf_url":"https://www.mdpi.com/2218-6581/8/1/7/pdf?version=1548908068","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/2218-6581/8/1/7/pdf?version=1548908068","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057606006","display_name":"Anand Vazhapilli Sureshbabu","orcid":"https://orcid.org/0000-0001-8143-8714"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Anand Vazhapilli Sureshbabu","raw_affiliation_strings":["Laboratory for Product Development and Lightweight Design, Technische Universit\u00e4t M\u00fcnchen, 85748 Garching, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8143-8714","affiliations":[{"raw_affiliation_string":"Laboratory for Product Development and Lightweight Design, Technische Universit\u00e4t M\u00fcnchen, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["iCub Department, Fondazione Istituto Italiano di Tecnologia, 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Department, Fondazione Istituto Italiano di Tecnologia, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072707307","display_name":"Alberto Parmiggiani","orcid":"https://orcid.org/0000-0003-1677-9381"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alberto Parmiggiani","raw_affiliation_strings":["iCub Department, Fondazione Istituto Italiano di Tecnologia, 16163 Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1677-9381","affiliations":[{"raw_affiliation_string":"iCub Department, Fondazione Istituto Italiano di Tecnologia, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057606006","https://openalex.org/A5072707307"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I62916508"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":275,"currency":"EUR","value_usd":296},"fwci":1.2915,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.78083155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":"1","first_page":"7","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9797000288963318,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9779000282287598,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.8845735788345337},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6607829332351685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.65088951587677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6476456522941589},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.6104965209960938},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5600738525390625},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5477964878082275},{"id":"https://openalex.org/keywords/robotic-paradigms","display_name":"Robotic paradigms","score":0.539171576499939},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5180249810218811},{"id":"https://openalex.org/keywords/carry","display_name":"Carry (investment)","score":0.4931332767009735},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.47169044613838196},{"id":"https://openalex.org/keywords/index","display_name":"Index (typography)","score":0.4584294557571411},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4559917151927948},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4152899384498596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32692646980285645},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.051867663860321045}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8845735788345337},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6607829332351685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.65088951587677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6476456522941589},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.6104965209960938},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5600738525390625},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5477964878082275},{"id":"https://openalex.org/C60940618","wikidata":"https://www.wikidata.org/wiki/Q7353423","display_name":"Robotic paradigms","level":4,"score":0.539171576499939},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5180249810218811},{"id":"https://openalex.org/C2776299755","wikidata":"https://www.wikidata.org/wiki/Q432449","display_name":"Carry (investment)","level":2,"score":0.4931332767009735},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.47169044613838196},{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.4584294557571411},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4559917151927948},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4152899384498596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32692646980285645},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.051867663860321045},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/robotics8010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8010007","pdf_url":"https://www.mdpi.com/2218-6581/8/1/7/pdf?version=1548908068","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:70031b7603b44a52b9bbd37aeff868e3","is_oa":true,"landing_page_url":"https://doaj.org/article/70031b7603b44a52b9bbd37aeff868e3","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 8, Iss 1, p 7 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/8/1/7/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics8010007","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"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1483655","is_oa":false,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1483655","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1517517","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1517517","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1518811","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1518811","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics8010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8010007","pdf_url":"https://www.mdpi.com/2218-6581/8/1/7/pdf?version=1548908068","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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2900984796.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1806263934","https://openalex.org/W1888892744","https://openalex.org/W1972127093","https://openalex.org/W1978360037","https://openalex.org/W1983156320","https://openalex.org/W1984237968","https://openalex.org/W1992984279","https://openalex.org/W2001296957","https://openalex.org/W2026640515","https://openalex.org/W2041437888","https://openalex.org/W2053438251","https://openalex.org/W2061476992","https://openalex.org/W2095852913","https://openalex.org/W2101076748","https://openalex.org/W2104544700","https://openalex.org/W2107758079","https://openalex.org/W2113028304","https://openalex.org/W2121327667","https://openalex.org/W2128681845","https://openalex.org/W2130280438","https://openalex.org/W2141930173","https://openalex.org/W2144573888","https://openalex.org/W2153000379","https://openalex.org/W2154683138","https://openalex.org/W2158886284","https://openalex.org/W2164320048","https://openalex.org/W2218684819","https://openalex.org/W2282481780","https://openalex.org/W2412908322","https://openalex.org/W2566260532","https://openalex.org/W2738994407","https://openalex.org/W2751852272","https://openalex.org/W2775819221","https://openalex.org/W2782828023","https://openalex.org/W2900984796","https://openalex.org/W3099587965","https://openalex.org/W4210660029","https://openalex.org/W4299361842","https://openalex.org/W6668153979","https://openalex.org/W6683940286"],"related_works":["https://openalex.org/W4231821192","https://openalex.org/W92837840","https://openalex.org/W2131444840","https://openalex.org/W2789839425","https://openalex.org/W2019273059","https://openalex.org/W4246818843","https://openalex.org/W2116669155","https://openalex.org/W2729037724","https://openalex.org/W2398963826","https://openalex.org/W2165720428"],"abstract_inverted_index":{"The":[0,11],"evaluation":[1,40,56],"of":[2,30,83,98,111,141],"robotic":[3,15,31,45,60,84,99,105],"hands":[4,16,23,46,61,85,100,106],"is":[5,123],"a":[6,24,38,109,129],"subjectively":[7],"biased,":[8],"complex":[9],"process.":[10],"fields":[12],"pertaining":[13],"to":[14,143],"are":[17,62],"human-centric":[18],"in":[19,63,101,138],"nature,":[20],"making":[21],"human":[22],"good":[25],"standard":[26],"for":[27,80,120],"benchmark":[28],"comparisons":[29],"hands.":[32,149],"To":[33],"achieve":[34],"this,":[35],"we":[36,43,126],"propose":[37,134],"new":[39],"index,":[41],"where":[42],"evaluate":[44,114],"on":[47,57],"three":[48],"fronts:":[49],"their":[50,115],"form,":[51],"features":[52,72,93],"and":[53,66,78,125],"performance.":[54],"An":[55,117],"how":[58],"anthropomorphic":[59],"basic":[64],"mobility,":[65],"appearance":[67],"constitutes":[68,86],"the":[69,87,104,139],"\u201cForm\u201d,":[70],"while":[71],"that":[73,113],"can":[74],"be":[75],"read,":[76],"changed":[77],"actuated":[79],"effective":[81],"control":[82],"\u201cFeatures\u201d.":[88],"We":[89,132],"derived":[90],"these":[91],"key":[92],"from":[94],"an":[95,135],"extensive":[96],"analysis":[97],"literature.":[102],"Finally,":[103],"carry":[107,127],"out":[108,128],"series":[110],"tasks":[112],"\u201cPerformance\u201d.":[116],"individual":[118],"score":[119],"each":[121],"category":[122],"drawn":[124],"three-pronged":[130],"analysis.":[131],"also":[133],"additional":[136],"feature":[137],"form":[140],"price":[142],"provide":[144],"context":[145],"when":[146],"analysing":[147],"multiple":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2018-11-29T00:00:00"}
