{"id":"https://openalex.org/W7127907995","doi":"https://doi.org/10.48550/arxiv.2602.05156","title":"PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation","display_name":"PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation","publication_year":2026,"publication_date":"2026-02-05","ids":{"openalex":"https://openalex.org/W7127907995","doi":"https://doi.org/10.48550/arxiv.2602.05156"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.05156","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125157382","display_name":"Dong Ho Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kang, Dong Ho","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125144634","display_name":"Aaron Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Aaron","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075135654","display_name":"Mingyo Seo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Seo, Mingyo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125224715","display_name":"Kazuto Yokoyama","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yokoyama, Kazuto","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078243726","display_name":"Tetsuya Narita","orcid":"https://orcid.org/0000-0003-1214-694X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Narita, Tetsuya","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5111757263","display_name":"Luis Sentis","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sentis, Luis","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5125157382"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6394000053405762,"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":0.6394000053405762,"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":0.1599999964237213,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.09589999914169312,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5069000124931335},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.49790000915527344},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4749999940395355},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43389999866485596},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.42480000853538513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41600000858306885},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.40139999985694885}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5069000124931335},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.49790000915527344},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4749999940395355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45010000467300415},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43389999866485596},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.42480000853538513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41999998688697815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41600000858306885},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40790000557899475},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.40139999985694885},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.39980000257492065},{"id":"https://openalex.org/C2780902562","wikidata":"https://www.wikidata.org/wiki/Q1154141","display_name":"Indentation","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3783999979496002},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.37700000405311584},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3634999990463257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34220001101493835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34209999442100525},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34040001034736633},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.33250001072883606},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3028999865055084},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26669999957084656},{"id":"https://openalex.org/C179909247","wikidata":"https://www.wikidata.org/wiki/Q1783143","display_name":"Contact mechanics","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.05156","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.05156","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.05156","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.05156","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,38],"present":[1],"the":[2,46,66],"PLATO":[3],"Hand,":[4],"a":[5,10,15,19,33,40,103,108],"dexterous":[6],"robotic":[7,68],"hand":[8,69],"with":[9,102],"hybrid":[11],"fingertip":[12,47],"that":[13,65,97],"embeds":[14],"rigid":[16],"fingernail":[17],"within":[18],"compliant":[20],"pulp.":[21],"This":[22],"design":[23,48,70],"shapes":[24],"contact":[25,54,100],"behavior":[26],"to":[27,44,50,113],"enable":[28],"diverse":[29],"interaction":[30],"modes":[31],"across":[32],"range":[34],"of":[35,81],"object":[36],"geometries.":[37],"develop":[39],"strain-energy-based":[41],"bending-indentation":[42],"model":[43],"guide":[45],"and":[49,78,90],"explain":[51],"how":[52],"guided":[53],"preserves":[55],"local":[56],"indentation":[57],"while":[58],"suppressing":[59],"global":[60],"bending.":[61],"Experimental":[62],"results":[63,95],"show":[64,96],"proposed":[67],"demonstrates":[71],"improved":[72],"pinching":[73],"stability,":[74],"enhanced":[75],"force":[76],"observability,":[77],"successful":[79],"execution":[80],"edge-sensitive":[82],"manipulation":[83],"tasks,":[84],"including":[85],"paper":[86],"singulation,":[87],"card":[88],"picking,":[89],"orange":[91],"peeling.":[92],"Together,":[93],"these":[94],"coupling":[98],"structured":[99],"geometry":[101],"force-motion":[104],"transparent":[105],"mechanism":[106],"provides":[107],"principled,":[109],"physically":[110],"embodied":[111],"approach":[112],"precise":[114],"manipulation.":[115]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-07T00:00:00"}