{"id":"https://openalex.org/W2964603044","doi":"https://doi.org/10.3390/robotics8030067","title":"Pinch Grasp and Suction for Delicate Object Manipulations Using Modular Anthropomorphic Robotic Gripper with Soft Layer Enhancements","display_name":"Pinch Grasp and Suction for Delicate Object Manipulations Using Modular Anthropomorphic Robotic Gripper with Soft Layer Enhancements","publication_year":2019,"publication_date":"2019-08-06","ids":{"openalex":"https://openalex.org/W2964603044","doi":"https://doi.org/10.3390/robotics8030067","mag":"2964603044"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8030067","pdf_url":"https://www.mdpi.com/2218-6581/8/3/67/pdf?version=1565072651","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/2218-6581/8/3/67/pdf?version=1565072651","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080641574","display_name":"Godwin Ponraj Joseph Vedhagiri","orcid":"https://orcid.org/0000-0002-3661-7702"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Godwin Ponraj Joseph Vedhagiri","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071662356","display_name":"A. V. Prituja","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Avataram Venkatavaradan Prituja","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guoniu Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoniu Zhu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088964967","display_name":"Nitish V. Thakor","orcid":"https://orcid.org/0000-0002-9981-9395"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG","US"],"is_corresponding":false,"raw_author_name":"Nitish V. Thakor","raw_affiliation_strings":["Department of Biomedical Engineering, Electrical and Computer Engineering, and Neurology, Johns Hopkins University, Baltimore, MD 21218, USA","Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Electrical and Computer Engineering, and Neurology, Johns Hopkins University, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6488-1551","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032340829"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.518,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.83002032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":"3","first_page":"67","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"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/grasp","display_name":"GRASP","score":0.9061106443405151},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6900985240936279},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.6297474503517151},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5890945792198181},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.5506967902183533},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5228227376937866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.519376814365387},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5130776166915894},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4495651423931122},{"id":"https://openalex.org/keywords/pinch","display_name":"Pinch","score":0.44813072681427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44225138425827026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3642842769622803},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.35007935762405396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.330513596534729},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32372158765792847},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31708669662475586},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08621877431869507}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9061106443405151},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6900985240936279},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.6297474503517151},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5890945792198181},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.5506967902183533},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5228227376937866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.519376814365387},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5130776166915894},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4495651423931122},{"id":"https://openalex.org/C14480152","wikidata":"https://www.wikidata.org/wiki/Q944644","display_name":"Pinch","level":2,"score":0.44813072681427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44225138425827026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3642842769622803},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.35007935762405396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.330513596534729},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32372158765792847},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31708669662475586},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08621877431869507},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics8030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8030067","pdf_url":"https://www.mdpi.com/2218-6581/8/3/67/pdf?version=1565072651","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:scholarbank.nus.edu.sg:10635/206293","is_oa":true,"landing_page_url":"https://scholarbank.nus.edu.sg/handle/10635/206293","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus OA2019","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:1fb581b3f94f4caabef8b6dd836095f7","is_oa":true,"landing_page_url":"https://doaj.org/article/1fb581b3f94f4caabef8b6dd836095f7","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 3, p 67 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/8/3/67/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics8030067","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/robotics8030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8030067","pdf_url":"https://www.mdpi.com/2218-6581/8/3/67/pdf?version=1565072651","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":[{"id":"https://openalex.org/G6578068565","display_name":null,"funder_award_id":"ONRG-NICOP-N62909-15-1-2029","funder_id":"https://openalex.org/F4320338298","funder_display_name":"Office of Naval Research Global"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338298","display_name":"Office of Naval Research Global","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2964603044.pdf","grobid_xml":"https://content.openalex.org/works/W2964603044.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W834378285","https://openalex.org/W1515749184","https://openalex.org/W1999375810","https://openalex.org/W2038447902","https://openalex.org/W2093847731","https://openalex.org/W2117197536","https://openalex.org/W2236954786","https://openalex.org/W2282481780","https://openalex.org/W2296944518","https://openalex.org/W2468811593","https://openalex.org/W2512116358","https://openalex.org/W2563084378","https://openalex.org/W2608405054","https://openalex.org/W2688457519","https://openalex.org/W2765244403","https://openalex.org/W2783395739","https://openalex.org/W2808508330","https://openalex.org/W2908637898","https://openalex.org/W2908797815","https://openalex.org/W2910173910","https://openalex.org/W2935599202","https://openalex.org/W2962746398","https://openalex.org/W2973734657"],"related_works":["https://openalex.org/W2069698258","https://openalex.org/W2892546005","https://openalex.org/W2567010246","https://openalex.org/W2095492957","https://openalex.org/W4312555732","https://openalex.org/W4237408708","https://openalex.org/W2052350261","https://openalex.org/W3014507301","https://openalex.org/W2745924412","https://openalex.org/W2922139741"],"abstract_inverted_index":{"This":[0],"paper":[1,108],"is":[2,30,70,134],"an":[3],"extension":[4],"of":[5,44,61,67,100,115,136],"our":[6,89],"previous":[7,90],"work":[8,91],"about":[9],"a":[10,31,39,73],"modular":[11,102],"anthropomorphic":[12],"robotic":[13,33,63],"hand":[14,34],"with":[15,49,72,93,104,129],"soft":[16,50,53,86,131],"enhancements":[17,54],"focusing":[18],"on":[19,110],"simultaneous":[20],"pinch":[21,146],"grasp":[22,118,147],"and":[23,38,59,97,119,144],"suction-based":[24,141],"object":[25],"manipulations.":[26],"The":[27,52,65],"base":[28],"structure":[29,99],"tendon-driven":[32],"comprising":[35],"five":[36],"fingers":[37],"palm.":[40],"Each":[41],"finger":[42,69,140],"consists":[43],"two":[45,112],"rigid":[46],"links":[47],"covered":[48],"enhancements.":[51],"are":[55],"like":[56],"the":[57,62,68,85,94,98,101,116,125,130],"skin":[58],"tissues":[60],"hand.":[64],"tip":[66],"equipped":[71],"suction":[74,120],"module":[75],"which":[76],"can":[77],"be":[78],"actuated":[79],"by":[80],"regulating":[81],"negative":[82],"pressure":[83],"to":[84],"layers.":[87],"While":[88],"dealt":[92],"rationale":[95],"behind":[96],"design":[103],"kinematic":[105],"analysis,":[106],"this":[107],"focuses":[109],"analyzing":[111],"specific":[113],"capabilities":[114],"gripper\u2014pinch":[117],"modality.":[121],"Experiments":[122],"validate":[123],"that":[124],"proposed":[126],"gripper":[127],"together":[128],"enhancement":[132],"layers":[133],"capable":[135],"performing":[137],"delicate":[138],"single":[139],"manipulation":[142],"tasks":[143],"two-finger":[145],"tasks.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}