The DOI matches its Crossref record.
Underactuated Robotic Hands
Overview
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
In the citing paper
“Underactuated robotics (Spong et al., 1998; Reyhanoglu et al., 1999; Birglen et al., 2008) makes use of systems in which the number of individually controllable degrees of freedom is less than the number of degrees of freedom of the mechanism.”
From Lessons for Robotics From the Control Architecture of the Octopus (2022) · cites this paper as Birglen et al., 2008
Citations
Cited by
Sorted by citations
Items 101–200 of 573
Type Synthesis of Linkage-Driven Self-Adaptive Fingers
Birglen, L. (2009) · Journal of Mechanisms and Robotics · doi:10.1115/1.3046139 · Cited by 42
“Additionally, if the analysis of self-adaptive fingers is well detailed in the literature [17], to the best of the author’s knowledge, only one reference [8] discusses the synthesis of such mechanisms.”
BackgroundSelf-citationA compliant underactuated hand with suction flow for underwater mobile manipulation
Stuart, H. S., Wang, S., Gardineer, B. G., et al. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907847 · Cited by 41
“secondary cables in the finger mechanism [12]–[15].”
Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers
Hu, Z., Wan, W., & Harada, K. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2924129 · Cited by 41
Kinova Modular Robot Arms for Service Robotics Applications
Campeau‐Lecours, A., Lamontagne, H., Latour, S., Fauteux, P., Maheu, V., Boucher, F., Deguire, C., & L'Ecuyer, L.-J. C. (2019) · IGI Global eBooks · doi:10.4018/978-1-5225-8060-7.ch032 · Cited by 41
The Co-Gripper: A Wireless Cooperative Gripper for Safe Human Robot Interaction
Salvietti, G., Iqbal, Z., Hussain, I., et al. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593877 · Cited by 41
An Adaptive Actuation Mechanism for Anthropomorphic Robot Hands
Kontoudis, G. P., Liarokapis, M. V., Vamvoudakis, K. G., & Furukawa, T. (2019) · Frontiers in Robotics and AI · doi:10.3389/frobt.2019.00047 · Cited by 42
“The modeling of tendon-driven underactuated fingers has been studied for the planar case in Birglen et al. (2007), Balasubramanian et al. (2012), and Ma and Dollar (2014).”
BackgroundDesign and Implementation of a Multi-Function Gripper for Grasping General Objects
Kang, L., Seo, J.-T., Kim, S.-H., et al. (2019) · Applied Sciences · doi:10.3390/app9245266 · Cited by 39
Grasp analysis tools for synergistic underactuated robotic hands
Gabiccini, M., Farnioli, E., & Bicchi, A. (2013) · The International Journal of Robotics Research · doi:10.1177/0278364913504473 · Cited by 38
“, 2007), parallel structure based (Birglen et al., 2008) and adaptive synergies (Catalano et al.”
BackgroundInfluentialIn-Hand Manipulation Primitives for a Minimal, Underactuated Gripper With Active Surfaces
Ma, R. R., & Dollar, A. M. (2016) · doi:10.1115/detc2016-60354 · Cited by 38
“Many researchers [1], [2] have implemented underactuation in robotic hand design to produce adaptive, grasping behavior, enabling effectors to secure objects of different geometries with only minimal, open-loop control.”
BackgroundMethodFriction compensation techniques for tendon-driven robotic hands
Palli, G., & Melchiorri, C. (2014) · Mechatronics · doi:10.1016/j.mechatronics.2013.12.006 · Cited by 38
Design of tendon-driven robotic fingers: Modeling and control issues
Borghesan, G., Palli, G., & Melchiorri, C. (2010) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2010.5509899 · Cited by 38
Finger exoskeleton for treatment of tendon injuries
Ertas, I. H., Hocaoğlu, E., Barkana, D. E., et al. (2009) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2009.5209487 · Cited by 38
“The kinematics of the exoskeleton is similar to the underactuated fingers introduced by Gosselin et al. [30] and is effectively equivalent to the kinematics of a series of four/six-bar mechanisms that are coupled to each other with compliant springs and constrained by mechanical joint limits.”
MethodUnderactuated 3-finger robotic gripper for grasping fabrics
Koustoumpardis, P. Ν., Nastos, K. X., & Aspragathos, N. (2014) · doi:10.1109/raad.2014.7002271 · Cited by 37
A compliant self-adaptive gripper with proprioceptive haptic feedback
Belzile, B., & Birglen, L. (2013) · Autonomous Robots · doi:10.1007/s10514-013-9360-1 · Cited by 35
“Extensive work have been done in the past on this combination including by the authors Birglen et al. (2008); Birglen (2010); Dollar et al. (2010); Lotti et al. (2002, 2005); Boudreault and Gosselin (2006).”
InfluentialSelf-citationAn Engineering Method for Comparing Selectively Compliant Joints in Robotic Structures
Berselli, G., Guerra, A., Vassura, G., et al. (2014) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2014.2315508 · Cited by 35
A ssist O n -F inger : An under-actuated finger exoskeleton for robot-assisted tendon therapy
Ertas, I. H., Hocaoğlu, E., & Patoğlu, V. (2014) · Robotica · doi:10.1017/s0263574714001957 · Cited by 35
An Approach to Designing Deployable Mechanisms Based on Rigid Modified Origami Flashers
Guang, C., & Yang, Y. (2018) · Journal of Mechanical Design · doi:10.1115/1.4040178 · Cited by 35
Structural Optimization of Adaptive Soft Fin Ray Fingers with Variable Stiffening Capability
Elgeneidy, K., Fansa, A., Hussain, I., & Goher, K. (2020) · IEEE International Conference on Soft Robotics (RoboSoft) · doi:10.1109/robosoft48309.2020.9115969 · Cited by 38
Suitability of the Openly Accessible 3D Printed Prosthetic Hands for War-Wounded Children
Cabibihan, J., Alkhatib, F., Mudassir, M., Lambert, L. A., Al-Kwifi, O. S., Diab, K., & Mahdi, E. (2021) · Frontiers in Robotics and AI · doi:10.3389/frobt.2020.594196 · Cited by 35
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
Lepora, N. F., Ford, C., Stinchcombe, A., Brown, A., Lloyd, J., Catalano, M. G., Bianchi, M., & Ward-Cherrier, B. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561350 · Cited by 36
Mechanical adaptability analysis of underactuated mechanisms
Chen, W., Xiong, C., Chen, W., & Yue, S. (2017) · Robotics and Computer-Integrated Manufacturing · doi:10.1016/j.rcim.2017.08.004 · Cited by 36
Teleimpedance control of a synergy-driven anthropomorphic hand
Ajoudani, A., Godfrey, S. B., Catalano, M. G., Grioli, G., Tsagarakis, N. G., & Bicchi, A. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6696620 · Cited by 34
“A single tendon runs through all joints to simultaneously flex and adduct the fingers upon actuation.”
BackgroundA constrained optimization framework for compliant underactuated grasping
Ciocarlie, M., & Allen, P. (2011) · Mechanical sciences · doi:10.5194/ms-2-17-2011 · Cited by 34
“Birglen et al. (2008) presented a detailed and encompassing optimization study for underactuated hands, focusing mainly on four-bar linkages but with applications to other transmission mechanisms as well.”
BackgroundMethodDesign of a stewart platform-inspired dexterous hand for 6-DOF within-hand manipulation
McCann, C. M., & Dollar, A. M. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8202287 · Cited by 34
“This tendon input force was then split twice through a standard pulley tree differential [16] that results in a four-way force split.”
MethodA novel universal gripper based on meshed pin array
Mo, A. C., & Zhang, W. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419834781 · Cited by 34
Analysis of Fingertip Force Vector for Pinch-Lifting Gripper With Robust Adaptation to Environments
Yoon, D., & Choi, Y. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2020.3045648 · Cited by 33
Humanlike shoulder complex for musculoskeletal robot arms
Ikemoto, S., Kannou, F., & Hosoda, K. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6385950 · Cited by 34
“The hand is driven by two PAMs in the manner of underactuated robotic hands[14].”
MethodDevelopment of a Multisensory Underactuated Prosthetic Hand With Fully Integrated Electronics
Cheng, M., Jiang, L., Fan, S., Yang, B., Dai, J., & Liu, H. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2022.3207107 · Cited by 34
Self-locking underactuated mechanism for robotic gripper
Hsu, J., Yoshida, E., Harada, K., et al. (2017) · IEEE International Conference on Advanced Intelligent Mechatronics (AIM) · doi:10.1109/aim.2017.8014086 · Cited by 33
“For example, a linkage underactuated finger is given in [5].”
BackgroundDesign of a Self-Adaptive Robotic Leg Using a Triggered Compliant Element
Fedorov, D., & Birglen, L. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2670678 · Cited by 33
“The technique consisting of triggering selective joints of a driven mechanism has been extensively studied by many, including the authors [12], with underactuated robotic fingers.”
BackgroundMethodInfluentialSelf-citationAnalyzing dexterous hands using a parallel robots framework
Borràs, J., & Dollar, A. M. (2013) · Autonomous Robots · doi:10.1007/s10514-013-9380-x · Cited by 32
Fani, S., Bianchi, M., Jain, S., Pimenta Neto, J. S., Boege, S., Grioli, G., Bicchi, A., & Santello, M. (2016) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2016.00011 · Cited by 31
“Another important feature of the SH design is that it is underactuated (Birglen et al., 2007).”
BackgroundInnovative Technologies for the Next Generation of Robotic Hands
Palli, G., Melchiorri, C., Vassura, G., Berselli, G., Pirozzi, S., Natale, C., Maria, G. D., & May, C. (2012) · Springer tracts in advanced robotics · doi:10.1007/978-3-642-29041-1_4 · Cited by 32
“Researches have been interested in designing hands with reduced number of actuators [12], with anthropomorphic aspect [16], with high dexterity potentialities [15], with very high speed [49], or compliance [8], or many other specific aspects.”
BackgroundDesign and performance assessment of an underactuated hand for industrial applications
Meijneke, C., Kragten, G. A., & Wisse, M. (2011) · Mechanical sciences · doi:10.5194/ms-2-9-2011 · Cited by 30
“The principle of underactuation (Birglen et al., 2008) can make a robotic hand adaptive to the shape of objects, enabling it to grasp a diversity of objects.”
BackgroundMethodInfluentialSt-Onge, D., & Gosselin, C. (2015) · Journal of Mechanisms and Robotics · doi:10.1115/1.4032101 · Cited by 30
Self-citationEnhancing versatility and safety of industrial grippers with adaptive robotic fingers
Birglen, L. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353778 · Cited by 30
“Finally, if the same workspace is used with a threephalanx version of the tendon-driven Soft Gripper [2], using the geometric parameters of [1] (Table 4.”
BackgroundMethodResultInfluentialSelf-citationTunable Contact Conditions and Grasp Hydrodynamics Using Gentle Fingertip Suction
Stuart, H. S., Wang, S., & Cutkosky, M. R. (2018) · IEEE Transactions on Robotics · doi:10.1109/tro.2018.2880094 · Cited by 30
A design and analysis tool for underactuated compliant hands
Ciocarlie, M., & Allen, P. (2009) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2009.5354089 · Cited by 30
Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
Dong, H., Asadi, E., Qiu, C., et al. (2018) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2018.08.028 · Cited by 30
Zhou, J., Huang, J., Dou, Q., Abbeel, P., & Liu, Y. (2024) · IEEE Transactions on Robotics · doi:10.1109/tro.2024.3508932 · Cited by 34
Stiffness Analysis of Underactuated Fingers and Its Application to Proprioceptive Tactile Sensing
Belzile, B., & Birglen, L. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2016.2589546 · Cited by 32
Self-citationEvaluation of grasp stiffness in underactuated compliant hands
Malvezzi, M., & Prattichizzo, D. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630855 · Cited by 29
Design of a Transmission With Gear Trains for Underactuated Mechanisms
Ozawa, R., Mishima, Y., & Hirano, Y. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2597319 · Cited by 29
Fast finger design automation for industrial robots
Honarpardaz, M., Ölvander, J., & Tarkian, M. (2019) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2018.12.011 · Cited by 29
“Under-actuated Hands To overcome the control complexity of advanced multi-finger grippers, a wide range of under-actuated concepts have been proposed (Birglen et al., 2008).”
BackgroundVarying spring preloads to select grasp strategies in an adaptive hand
Aukes, D. M., Heyneman, B., Duchaine, V., & Cutkosky, M. R. (2011) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2011.6095078 · Cited by 27
“…relating the length of the spring, ls, to qind, such that: q̇act = Jactq̇ind (3) l̇s = Jsq̇ind (4) The spring Jacobian deriviation is similar to that found in [13], but instead provides for placing linear springs between two points in the four bar linkage instead of torsional springs in the joint.”
BackgroundUnderactuated tendon-driven robotic/prosthetic hands: design issues
Mottard, A., Laliberté, T., & Gosselin, C. (2017) · doi:10.15607/rss.2017.xiii.019 · Cited by 28
Self-citationOn the Optimal Design of Underactuated Fingers Using Rolling Contact Joints
Boisclair, J.-M., Laliberté, T., & Gosselin, C. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3068976 · Cited by 28
“Among them, ejection of the object, well described in [2], can be particularly detrimental.”
BackgroundMethodInfluentialSelf-citationThe DressGripper: A Collaborative Gripper With Electromagnetic Fingertips for Dressing Assistance
Dragusanu, M., Marullo, S., Malvezzi, M., et al. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3183756 · Cited by 28
Li, G., Zhang, C., Zhang, W., et al. (2014) · Journal of Mechanisms and Robotics · doi:10.1115/1.4027704 · Cited by 28
On adaptive grasp with underactuated anthropomorphic hands
Chen, W., & Xiong, C. (2016) · Journal of Bionic Engineering · doi:10.1016/s1672-6529(14)60160-8 · Cited by 28
Çallı, B., & Dollar, A. M. (2018) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2018.2819661 · Cited by 27
Kinematics of underactuated robotics for product carbon footprint
He, B., Cao, X., & Gu, Z. (2020) · Journal of Cleaner Production · doi:10.1016/j.jclepro.2020.120491 · Cited by 27
In-Hand Manipulation in Power Grasp: Design of an Adaptive Robot Hand with Active Surfaces
Cai, Y., & Yuan, S. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161516 · Cited by 30
Ability to hold grasped objects by underactuated hands: Performance prediction and experiments
Kragten, G. A., Kool, A. C., & Herder, J. L. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152659 · Cited by 27
“The force equalities and constraints follow from the contact force equations, as derived by the method of virtual power according the notation of [5], but adapted to account for the prismatic joint and joint stiffnesses of the hand under consideration.”
BackgroundMethodInfluentialDisturbance Response of Two-Link Underactuated Serial-Link Chains
Balasubramanian, R., Belter, J. T., & Dollar, A. M. (2012) · Journal of Mechanisms and Robotics · doi:10.1115/1.4006279 · Cited by 26
Suction helps in a pinch: Improving underwater manipulation with gentle suction flow
Stuart, H. S., Bagheri, M., Wang, S., et al. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353683 · Cited by 26
“Usually the passive mechanics of an underactuated finger are determined by the linkage, flexure, or spring design [16].”
Backgroundda Fonseca, V. P., de Oliveira, T. E. A., & Petriu, E. M. (2019) · Sensors · doi:10.3390/s19102285 · Cited by 26
Soft Hands with Embodied Constraints: The Soft ScoopGripper
Salvietti, G., Iqbal, Z., Malvezzi, M., et al. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793563 · Cited by 26
“M ∈ nt×nq is a transformation matrix independent from hand posture and defined by the size of finger pulleys and by the topology of tendon routing [14].”
BackgroundHand closure model for planning top grasps with soft robotic hands
Pozzi, M., Marullo, S., Salvietti, G., Bimbo, J., Malvezzi, M., & Prattichizzo, D. (2020) · The International Journal of Robotics Research · doi:10.1177/0278364920947469 · Cited by 26
“Compliant and underactuated robotic hands are mechanisms that have been studied since the late 1970s (Birglen et al., 2008; Hirose and Umetani, 1978).”
BackgroundDesign and testing of an under-actuated surface EMG-driven hand exoskeleton
Lince, A., Celadon, N., Battezzato, A., Favetto, A., Appendino, S., Ariano, P., & Paleari, M. (2017) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2017.8009325 · Cited by 25
Chen, W., Xiong, C., & Wang, Y. (2020) · IEEE Transactions on Robotics · doi:10.1109/tro.2019.2963650 · Cited by 25
Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism
Cheng, M., Fan, S., Yang, D., et al. (2020) · Journal of Mechanisms and Robotics · doi:10.1115/1.4047730 · Cited by 25
A parallel robots framework to study precision grasping and dexterous manipulation
Borràs, J., & Dollar, A. M. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630783 · Cited by 25
Analysis and Optimization of a New Differentially Driven Cable Parallel Robot
Khakpour, H., Birglen, L., & Tahan, A. S. (2014) · Journal of Mechanisms and Robotics · doi:10.1115/1.4028931 · Cited by 25
“Commonly used examples of these mechanisms are bevel gear differentials, planetary gear differential, seesaw mechanisms, and tendon-pulley arrangements [20].”
BackgroundSelf-citationWorkspace analysis of a novel underactuated robot wrist based on virtual prototyping
He, B., Hou, S., Deng, Z., et al. (2014) · The International Journal of Advanced Manufacturing Technology · doi:10.1007/s00170-014-5687-9 · Cited by 25
Learning task-specific models for dexterous, in-hand manipulation with simple, adaptive robot hands
Liarokapis, M. V., & Dollar, A. M. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759394 · Cited by 24
“The particular class of hands, uses either tendon based or linkage based transmission and generally requires a spring element that acts as an antagonist to resist gravitational forces [12].”
BackgroundFrom 3 fingers to 5 fingers dexterous hands
Rebollo, D. R. R., Ponce, P., & Molina, A. (2017) · Advanced Robotics · doi:10.1080/01691864.2017.1393349 · Cited by 28
“These design allows for easier control [33,37] sometimes with a trade off between the mechanism’s complexity, price that might be worth to pay.”
BackgroundDesign of a partially-coupled self-adaptive robotic finger optimized for collaborative robots
Birglen, L. (2018) · Autonomous Robots · doi:10.1007/s10514-018-9802-x · Cited by 25
“Self-adaptive or underactuated hands and fingers as described in [8] have been successfully introduced throughout the robotics community, both in academia and the industry, as a middle ground solution between classical industrial grippers and complex anthropomorphic robotic hands.”
BackgroundInfluentialSelf-citationSoft wearable assistive robotics: exosuits and supernumerary limbs
Masia, L., Hussain, I., Xiloyannis, M., Pacchierotti, C., Cappello, L., Malvezzi, M., Spagnoletti, G., Antuvan, C. W., Dinh, B. K., Pozzi, M., et al. (2018) · Institution of Engineering and Technology eBooks · doi:10.1049/pbce108e_ch10 · Cited by 26
Govindan, N., & Thondiyath, A. (2019) · Journal of Mechanisms and Robotics · doi:10.1115/1.4044163 · Cited by 24
Grasp and manipulation analysis for synergistic underactuated hands under general loading conditions
Gabiccini, M., Farnioli, E., & Bicchi, A. (2012) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2012.6224959 · Cited by 24
“A possible approach to reduce complexity it to cleverly cut down on the number of actuators: the outcome are underactuated hands that are simpler and more reliable than their fully actuated counterparts [11], [2], [3].”
BackgroundChen, T., Wang, L., Haas-Heger, M., et al. (2020) · IEEE Transactions on Robotics · doi:10.1109/tro.2020.2971428 · Cited by 24
“tc. To fulfill certain requirements of an underactuated hand design, one common way is to select parameters via optimization. There is a lot of literature in this category: for example, Birglen et al. [20] presented an optimization study in detail for linkage-driven underactuated hands. Dollar and Howe [21] optimized t…”
BackgroundLaminar Jamming Flexure Joints for the Development of Variable Stiffness Robot Grippers and Hands
Gerez, L. F., Gao, G., & Liarokapis, M. V. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340752 · Cited by 26
The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers
Birglen, L. (2011) · Mechanical sciences · doi:10.5194/ms-2-41-2011 · Cited by 24
“This choice considerably simplifies mechanical design and the finger based on this simplification has been extensively investigated [18].”
BackgroundSelf-citationPASA-GB Hand: a Novel Parallel and Self-adaptive Robot Hand with Gear-belt Mechanisms
Liang, D., & Zhang, W. (2017) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-017-0644-0 · Cited by 24
Robust grasping for an under-actuated anthropomorphic hand under object position uncertainty
Su, Y., Wu, Y. J., Lee, K., et al. (2012) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2012.6651599 · Cited by 23
A proposal for benchmark tests for underactuated or compliant hands
Kragten, G. A., Meijneke, C., & Herder, J. L. (2010) · Mechanical sciences · doi:10.5194/ms-1-13-2010 · Cited by 23
“The driving mechanism of the finger is inspired by the four bar linkage of the SARAH (Birglen et al., 2008, Ch. 7).”
MethodGrasp and Stress Analysis of an Underactuated Finger for Proprioceptive Tactile Sensing
Abdeetedal, M., & Kermani, M. R. (2018) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2018.2844327 · Cited by 23
Ren, Z., Kashiri, N., Zhou, C., & Tsagarakis, N. G. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594507 · Cited by 23
“where J and H symbolise the corresponding Jacobin and transmission matrices as detailed in [9], [16].”
BackgroundMethodInfluentialMcCann, C. M., Patel, V. V., & Dollar, A. M. (2021) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2021.3064750 · Cited by 22
“25 JUNE 2021 • IEEE ROBOTICS & AUTOMATION MAGAZINE • mechanism based on four-bar linkages was utilized to achieve underactuation at the hand level; however, withinhand manipulation was not the objective [17].”
BackgroundChu, A. H., Cheng, T., Muralt, A., & Onal, C. D. (2023) · Soft Robotics · doi:10.1089/soro.2021.0200 · Cited by 23
“19,47 This compliance enables for stable grasps, as the elastic elements deform to deliver a normal force to the object to avoid slip-ping.”
The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands
Pozzi, M., Salvietti, G., Bimbo, J., Malvezzi, M., & Prattichizzo, D. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2810946 · Cited by 22
Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation
Vulliez, P., Gazeau, J.-P., Laguillaumie, P., et al. (2018) · Robotica · doi:10.1017/s0263574718000346 · Cited by 22
Crowder, R. (2019) · Elsevier eBooks · doi:10.1016/b978-0-08-102884-1.00001-7 · Cited by 22
Robotics: Science and Systems XIII
(2017) · doi:10.15607/rss.2017.xiii · Cited by 22
"FRCEF: The new friction reduced and coupling enhanced finger for the Awiwi hand"
Friedl, W., Chalon, M., Reinecke, J., et al. (2015) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2015.7363527 · Cited by 21
Compliant gripper with force estimation for physical human–robot interaction
Ruiz-Ruiz, F. J., Ventura, J., Urdiales, C., & Gómez-de-Gabriel, J. M. (2022) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2022.105062 · Cited by 21
Underactuated Robotic Gripper With Fiber-Optic Force Sensing Tendons
Yi, J., Kim, B., Cho, K., & Park, Y. (2023) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2023.3315204 · Cited by 22
Effector form design for 1DOF planar actuation
Rodríguez, A., & Mason, M. T. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6630599 · Cited by 21
“Perhaps most relevant to this paper is the desire to build simple yet capable robotic hands (Hirose and Umetani [11], Ulrich [2], Dollar and Howe [12], Birglen et al. [13], Rodriguez et al. [14], Mason et al. [15]).”
BackgroundFrom Soft to Adaptive Synergies: The Pisa/IIT SoftHand
Catalano, M. G., Grioli, G., Farnioli, E., et al. (2016) · Springer series on touch and haptic systems · doi:10.1007/978-3-319-26706-7_8 · Cited by 21
Ren, Z., Zhou, C., Xin, S., et al. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8202175 · Cited by 21
A Systematic Approach to Evaluating and Benchmarking Robotic Hands—The FFP Index
Sureshbabu, A. V., Giorgio Metta, B., & Parmiggiani, A. (2019) · Robotics · doi:10.3390/robotics8010007 · Cited by 20
“In recent years, a considerable amount of research efforts has been devoted to the development of underactuated hands [21].”
BackgroundSensorless In-Hand Manipulation by An Underactuated Robot Hand
Ospina, D., & Ramirez‐Serrano, A. (2020) · Journal of Mechanisms and Robotics · doi:10.1115/1.4046652 · Cited by 20
Adaptive Underactuated Finger With Active Rolling Surface
Gómez-de-Gabriel, J. M., & Wurdemann, H. A. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3105729 · Cited by 21
External Disturbances and Coupling Mechanisms in Underactuated Hands
Balasubramanian, R., Belter, J. T., & Dollar, A. M. (2010) · doi:10.1115/detc2010-29004 · Cited by 20
“2 Grasping Behaviors In Underactuated Hands The grasping behaviors of underactuated hands have been analyzed in several contexts, such as the robustness to uncertainty in hand position relative to the object [23], the sliding of the hand on the object [2, 24], inadvertent contact forces [25], and adaptability [3–5].”
BackgroundMethodInfluentialBai, G., & Rojas, N. (2018) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2018.8624971 · Cited by 20
“A lower grasping position will induce underactuated grasping [42], [43] with proximal phalange touching the object firstly and following by distal phalange, as shown in Fig.”
BackgroundKontoudis, G. P., Liarokapis, M. V., & Vamvoudakis, K. G. (2019) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids43949.2019.9035037 · Cited by 19
Spanjer, S. A. J., Balasubramanian, R., Dollar, A. M., et al. (2012) · Springer eBooks · doi:10.1007/978-1-4471-4141-9_60 · Cited by 19
“The equilibrium point can also be used to see if caging behavior will occur [2].”
BackgroundMethodInfluentialKinematic synthesis using tree topologies
Simo‐Serra, E., & Gracia, A. P. (2013) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2013.10.004 · Cited by 19
“hands (see [33] for a review and [34] for recent results), which present little dexterity, the design of robotic hands has been performed from an anthropomorphic point of view.”
BackgroundOn the role of stiffness design for fingertip trajectories of underactuated modular soft hands
Hussain, I., Salvietti, G., Malvezzi, M., & Prattichizzo, D. (2017) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2017.7989354 · Cited by 19
Metadata
- Authors
- Birglen, L., Laliberté, T., & Gosselin, C.
- Venue
- Springer Tracts in Advanced Robotics
- Publisher
- Springer Berlin Heidelberg
- Published
- 2008
- ISSN
- 1610-742X (ISSN-L)
- 1610-7438
- OpenAlex
- W1881109849
- Cited by
- 572
- References
- 0
- Citations by year
- 2026: 10 · 2025: 26 · 2024: 22 · 2023: 27 · 2022: 30 · 2021: 31 · 2020: 49 · 2019: 54 · 2018: 50 · 2017: 42 · 2016: 43 · 2015: 35 · 2014: 43 · 2013: 41 · 2012: 22
- FWCI
- 5.97
- Type
- book
- Language
- en
- Open access
- closed
- Licence
- www.springer.com/tdm (tdm)
- Locations
- Springer tracts in advanced robotics (publishedVersion)
- Digital Access to Libraries (Université catholique de Louvain (UCL), l'Université de Namur (UNamur) and the Université Saint-Louis (USL-B)) (submittedVersion)
- PolyPublie (École Polytechnique de Montréal) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- underactuated robotic hand, robotic grasping, robotic manipulation, hand design, dexterous manipulation, unstructured environments, surgical robotics, space robotics, underwater robotics
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
