{"id":"https://openalex.org/W7155370698","doi":"https://doi.org/10.48550/arxiv.2604.20692","title":"A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models","display_name":"A Kinematic Framework for Evaluating Pinch Configurations in Robotic Hand Design without Object or Contact Models","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155370698","doi":"https://doi.org/10.48550/arxiv.2604.20692"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.20692","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20692","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.20692","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134382724","display_name":"HyoJae Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, HyoJae","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015754958","display_name":"Joonho Lee","orcid":"https://orcid.org/0000-0002-5072-7385"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Joonho","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134427318","display_name":"Hyunmok Jung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jung, Hyunmok","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134383395","display_name":"Dong Il Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Dong Il","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"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":0.9567000269889832,"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":0.9567000269889832,"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/T10982","display_name":"Motor Control and Adaptation","score":0.01489999983459711,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.00419999985024333,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8855999708175659},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8348000049591064},{"id":"https://openalex.org/keywords/pinch","display_name":"Pinch","score":0.7839999794960022},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7172999978065491},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5440999865531921},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4943999946117401},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4478999972343445}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8855999708175659},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8348000049591064},{"id":"https://openalex.org/C14480152","wikidata":"https://www.wikidata.org/wiki/Q944644","display_name":"Pinch","level":2,"score":0.7839999794960022},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7172999978065491},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5440999865531921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040000081062317},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4943999946117401},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4478999972343445},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4138999879360199},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.40950000286102295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39100000262260437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3846000134944916},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36820000410079956},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35440000891685486},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33899998664855957},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.33869999647140503},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.3073999881744385},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.2847999930381775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.20692","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20692","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":"doi:10.48550/arxiv.2604.20692","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.20692","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Evaluating":[0],"the":[1,34,62,71,75,85,91,105,132,139,163],"pinch":[2,50,79,106,140,160],"capability":[3,107,161],"of":[4,37,52,65,74,108,131],"a":[5,44,109,149],"robotic":[6,38,53,110,155],"hand":[7,39,111,133,156],"is":[8,68],"important":[9],"for":[10,48,152],"understanding":[11],"its":[12,118],"functional":[13],"dexterity.":[14],"However,":[15],"many":[16],"existing":[17],"grasp":[18],"evaluation":[19,46,144],"methods":[20],"rely":[21],"on":[22,56,117,126,138],"object":[23,99],"geometry":[24,100],"or":[25,101],"contact":[26,102],"force":[27,103],"models,":[28,104],"which":[29],"limits":[30],"their":[31,136],"applicability":[32],"during":[33,162],"early":[35],"stages":[36],"design.":[40],"This":[41],"study":[42],"proposes":[43],"kinematic":[45,119,129],"method":[47,93],"analyzing":[49,159],"configurations":[51,73,80],"hands":[54],"based":[55,116],"interactions":[57],"between":[58,87],"fingertip":[59,67,88],"workspaces.":[60],"First,":[61],"reachable":[63],"workspace":[64],"each":[66],"computed":[69],"from":[70],"joint":[72],"fingers.":[76],"Then,":[77],"feasible":[78],"are":[81,124],"detected":[82],"by":[83],"evaluating":[84],"relationships":[86],"pairs.":[89],"Since":[90],"proposed":[92,143],"does":[94],"not":[95],"require":[96],"information":[97],"about":[98],"can":[112,146],"be":[113],"evaluated":[114],"solely":[115],"structure.":[120],"In":[121],"addition,":[122],"analyses":[123],"performed":[125],"four":[127],"different":[128,154],"structures":[130],"to":[134],"investigate":[135],"impact":[137],"configurations.":[141],"The":[142],"framework":[145],"serve":[147],"as":[148],"useful":[150],"tool":[151],"comparing":[153],"designs":[157],"and":[158],"design":[164],"stage.":[165]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-24T00:00:00"}