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 201–300 of 573
Chu, Z., Yan, S., Hu, J. J., et al. (2018) · International Journal of Control Automation and Systems · doi:10.1007/s12555-016-0017-7 · Cited by 19
Leddy, M. T., & Dollar, A. M. (2018) · IEEE International Conference on Biomedical Robotics and Biomechatronics · doi:10.1109/biorob.2018.8487198 · Cited by 19
“The differential coupling mechanisms in these hands transfer the actuation torque to larger contact areas, providing secure grasps with delicate handling [6].”
BackgroundDesign of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification
Liu, H., Zhao, B., Liu, Z., & Xu, K. J. (2020) · Journal of Mechanisms and Robotics · doi:10.1115/1.4047438 · Cited by 19
WRAPP-up: A Dual-Arm Robot for Intralogistics
Garabini, M., Caporale, D., Tincani, V., Palleschi, A., Gabellieri, C., Gugliotta, M., Settimi, A., Catalano, M. G., Grioli, G., & Pallottino, L. (2020) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2020.3015899 · Cited by 20
Kinematic design of an ejection-free underactuated anthropomorphic finger
Demers, L.-A. A., & Gosselin, C. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152301 · Cited by 19
“Unfortunately, the literature on underactuation is rather scarce [12].”
BackgroundSelf-citationA Platform for Grasp Performance Assessment in Compliant or Underactuated Hands
Kragten, G. A., & Herder, J. L. (2010) · Journal of Mechanical Design · doi:10.1115/1.4000761 · Cited by 19
Andrés, J., Pérez-González, A., Rubert, C., Fuentes, J. A. F., & Sospedra, B. (2018) · Journal of Mechanisms and Robotics · doi:10.1115/1.4040491 · Cited by 19
Chen, Z., Wimböck, T., Roa, M. A., et al. (2015) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2015.7139881 · Cited by 18
“Passive compliance has been widely utilized in underactuated robotic hands to achieve adaptively grasping for objects with uncertainties [12].”
BackgroundKinetostatic analysis and design optimization of an n-finger underactuated hand exoskeleton
Battezzato, A. (2015) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2014.12.007 · Cited by 18
Soft Hand Exoskeleton for Adaptive Grasping Using a Compact Differential Mechanism
Bajaj, A., Jain, V., Kumar, P., et al. (2020) · Lecture notes in mechanical engineering · doi:10.1007/978-981-15-4477-4_52 · Cited by 18
Park, M., Jeong, B., & Park, Y. (2020) · Advanced Intelligent Systems · doi:10.1002/aisy.202000061 · Cited by 19
Wang, Q., Quan, Q., Deng, Z., & Hou, X. (2016) · Journal of Mechanisms and Robotics · doi:10.1115/1.4032811 · Cited by 18
Han, S. M., & Kim, Y. Y. (2020) · Journal of Mechanical Design · doi:10.1115/1.4048411 · Cited by 17
Modelling and simulation of a multi-fingered robotic hand for grasping tasks
Ramón, J. A. C., Jara, C. A., & Torres, F. (2010) · International Conference on Control, Automation, Robotics and Vision (ICARCV) · doi:10.1109/icarcv.2010.5707292 · Cited by 17
“These robotic systems are usually based on under-actuated schemes due to their compactness and their simplicity in control [5].”
BackgroundDiscrete modular serpentine robotic tail: design, analysis and experimentation
Saab, W., Rone, W. S., & Ben‐Tzvi, P. (2018) · Robotica · doi:10.1017/s0263574718000176 · Cited by 17
Underactuated Gripper with Forearm Roll Estimation for Human Limbs Manipulation in Rescue Robotics
Gandarías, J. M., Pastor, F., Muñoz-Ramírez, A. J., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967953 · Cited by 17
Reconfigurable Underactuated Adaptive Gripper Designed by Morphological Computation
Borisov, I. I., Khornutov, E. E., Ivolga, D. V., et al. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9811738 · Cited by 17
Accuracy analysis of a spherical 3-DOF parallel underactuated robot wrist
He, B., Zhang, P., & Hou, S. (2015) · The International Journal of Advanced Manufacturing Technology · doi:10.1007/s00170-015-6837-4 · Cited by 17
“According to the relationships between the degrees of freedom (DOFs) and the number of actuators, the mechanisms could be classified into full-actuated mechanism, redundant actuated mechanism, and underactuated mechanism [3, 4].”
BackgroundNumerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger
Khakpour, H., & Birglen, L. (2012) · Journal of Computational and Nonlinear Dynamics · doi:10.1115/1.4007359 · Cited by 17
“It is however arguably unavoidable for all contact configurations [4] and thus, must be simulated to ascertain if the negative torques will lead to a stable grasp with less than three contact points or to an ejection of the object from the finger.”
BackgroundMethodInfluentialSelf-citationPerformance of serial underactuated mechanisms: Number of degrees of freedom and actuators
Balasubramanian, R., & Dollar, A. M. (2011) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2011.6094607 · Cited by 17
“Recently, underactuated mechanisms that have fewer actuators than degrees of freedom have become popular in robot hand research, since the underactuated mechanism’s unconstrained freedoms allow it to adapt to environmental constraints without any sensing [1], [2], [3], [4], [5], [6].”
BackgroundDesign, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface
Pedemonte, N., Laliberté, T., & Gosselin, C. (2015) · Journal of Mechanisms and Robotics · doi:10.1115/1.4031167 · Cited by 17
Self-citationDesign of an Environmentally Interactive Continuum Manipulator
Bakker, D. L., Matsuura, D., Takeda, Y., et al. (2013) · Research Repository (Delft University of Technology) · doi:10.6567/iftomm.14th.wc.os13.114 · Cited by 17
Lessons for Robotics From the Control Architecture of the Octopus
Sivitilli, D. M., Smith, J. R., & Gire, D. H. (2022) · Frontiers in Robotics and AI · doi:10.3389/frobt.2022.862391 · Cited by 13
“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.”
BackgroundDesign of a robotic finger using series gear chain mechanisms
Mishima, Y., & Ozawa, R. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6942961 · Cited by 16
“For this purpose, many robotic hands have been developed by using underactuated drive systems to reduce the number of actuators that are one of the heaviest components in hand mechanisms [1].”
BackgroundBio-Inspired Tendon-Driven Finger Design With Isomorphic Ligamentous Joint
Lee, G., & Choi, Y. (2020) · IEEE Access · doi:10.1109/access.2020.2968739 · Cited by 16
1-Degree-of-Freedom Robotic Gripper With Infinite Self-Twist Function
Nishimura, T., Suzuki, Y., Tsuji, T., & Watanabe, T. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3187823 · Cited by 16
“Several underactuated robotic grippers that can switch between functions (including grasping modes) using a single actuator have been proposed [1].”
BackgroundBattezzato, A. (2014) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2014.03.007 · Cited by 16
Herrmann, G., Jalani, J., Mahyuddin, M. N., et al. (2014) · Robotica · doi:10.1017/s0263574714002811 · Cited by 16
Mechatronic design and experimental validation of a novel robotic hand
Figliolini, G., & Rea, P. (2014) · Industrial Robot the international journal of robotics research and application · doi:10.1108/ir-04-2013-344 · Cited by 15
Tactile sensing based on fingertip suction flow for submerged dexterous manipulation
Nadeau, P., Abbott, M. E., Melville, D., et al. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197582 · Cited by 15
GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception
Ma, Y., Zhao, J. A., & Adelson, E. H. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610823 · Cited by 15
Workspace augmentation of spatial 3-DOF cable parallel robots using differential actuation
Khakpour, H., & Birglen, L. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6943107 · Cited by 15
Self-citationTowards a functional evaluation of manipulation performance in dexterous robotic hand design
Roa, M. A., Chen, Z., Staal, I. C., et al. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907863 · Cited by 15
“that a low number of actuators driving coupled degrees of freedom (DoF) can also lead to successful grasps [9], [10].”
BackgroundPreliminary results toward a naturally controlled multi-synergistic prosthetic hand
Rossi, M., Santina, C. D., Piazza, C., Grioli, G., Catalano, M. G., & Bicchi, A. (2017) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2017.8009437 · Cited by 15
Design of a 3-DOF Linkage-Driven Underactuated Finger for Multiple Grasping
Kang, L., Seo, J.-T., Yoon, D., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968037 · Cited by 15
Liu, H., Zhao, L., Siciliano, B., & Ficuciello, F. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2974419 · Cited by 18
Dexterous manipulation with underactuated fingers: Flip-and-pinch task
Ma, R. R., Odhner, L. U., & Dollar, A. M. (2012) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2012.6225348 · Cited by 14
Kinematic Design of an Underactuated Robot Leg for Passive Terrain Adaptability and Stability
Kanner, O. Y., & Dollar, A. M. (2013) · Journal of Mechanisms and Robotics · doi:10.1115/1.4024238 · Cited by 14
Design, Implementation, and Evaluation of a Variable Stiffness Transradial Hand Prosthesis
Hocaoğlu, E., & Patoğlu, V. (2022) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2022.789210 · Cited by 16
A Two-Fingered Robot Gripper with Variable Stiffness Flexure Hinges Based on Shape Morphing
Godaba, H., Sajad, A., Patel, N., Althoefer, K. A., & Zhang, K. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341554 · Cited by 15
Yu, Q., Jiang, M., & Gravish, N. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3067181 · Cited by 15
Design and Development of Compactly Folding Parallel Open-Close Gripper with Wide Stroke
Kobayashi, A., Kinugawa, J., Arai, S., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967838 · Cited by 14
Mardula, K. L., Balasubramanian, R., & Allan, C. H. (2014) · Hand · doi:10.1007/s11552-014-9676-0 · Cited by 14
Grasp Optimization Under Specific Contact Constraints
Rosales, C., Porta, J. M., & Ros, L. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2244785 · Cited by 14
Model-free based control of a gripper actuated by pneumatic muscles
Hamon, P., Michel, L., Plestan, F., et al. (2023) · Mechatronics · doi:10.1016/j.mechatronics.2023.103053 · Cited by 13
A universal robot gripper based on concentric arrays of rotating pins
Mo, A. C., & Zhang, W. (2019) · Science China Information Sciences · doi:10.1007/s11432-018-9716-2 · Cited by 13
Underactuated versatile gripper for the cleaning of nuclear sites
Gosselin, C., & Laliberté, T. (2010) · International Conference on Applied Robotics for the Power Industry (CARPI) · doi:10.1109/carpi.2010.5624464 · Cited by 13
“This desirable behaviour can be obtained through a proper design of the mechanism that ensures the convergence and stability of the grasps (see for instance [4], [5]).”
BackgroundSelf-citationYoon, D., Lee, G., Lee, S., et al. (2016) · IEEE International Conference on Biomedical Robotics and Biomechatronics · doi:10.1109/biorob.2016.7523683 · Cited by 13
Gao, B., Yang, S., Jin, H., Hu, Y., Yang, X., & Zhang, J. (2016) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2016.7866453 · Cited by 13
Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing
Belzile, B., & Birglen, L. (2017) · Journal of Mechanisms and Robotics · doi:10.1115/1.4037113 · Cited by 13
Self-citationA Universal Gripper Base on Pivoted Pin Array with Chasing Tip
Mo, A. C., Fu, H. Y., & Zhang, W. (2018) · Lecture notes in computer science · doi:10.1007/978-3-319-97589-4_9 · Cited by 13
Liu, H., Zhang, Z., Zhu, X., & Xu, K. J. (2018) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2018.8452711 · Cited by 14
Quasi-dynamic analysis, design optimization, and evaluation of a two-finger underactuated hand
Saliba, M. A., & de Silva, C. W. (2015) · Mechatronics · doi:10.1016/j.mechatronics.2015.09.007 · Cited by 13
From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms
Birglen, L. (2010) · Mechanical sciences · doi:10.5194/ms-1-5-2010 · Cited by 13
“Self-adaptive mechanisms as used in underactuated fingers [1] are often confused with other classes of mechanisms because of the lack of a clear definition.”
BackgroundMethodInfluentialSelf-citationSlippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors
Farag, M., Azlan, N. Z., Alsibai, M. H., et al. (2019) · International Conference on Computer and Technology Applications (ICCTA) · doi:10.1145/3323933.3324077 · Cited by 12
Stella, F., Achkar, M. M., Santina, C. D., & Hughes, J. (2025) · Nature Machine Intelligence · doi:10.1038/s42256-025-00988-x · Cited by 15
“This class of underactuation strategies 58 involves k motors whose rotation angles are the σ (1: k ) in equation (1).”
Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)
Kobayashi, A., Yamaguchi, K., Kinugawa, J., et al. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206012 · Cited by 12
“Based on the analytical method, which uses the principle of virtual power [17], we analyzed the precision grip force of uGRIPP.”
MethodA Compact Ratchet Clutch Mechanism for Fine Tendon Termination and Adjustment
Gerez, L. F., & Liarokapis, M. V. (2018) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2018.8452246 · Cited by 12
“[11].”
Multifunctional Parallel Gripper With Three Actuators
Hattori, T., & Omata, T. (2021) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3093777 · Cited by 12
Dynamics analysis and numerical simulation of a novel underactuated robot wrist
He, B., Zhang, P., Liu, W., et al. (2016) · Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture · doi:10.1177/0954405415624362 · Cited by 12
Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation
Ciocarlie, M. (2010) · Cited by 10
Estimating contact forces from postural measures in a class of under-actuated robotic hands
Santina, C. D., Piazza, C., Santaera, G., Grioli, G., Catalano, M. G., & Bicchi, A. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206062 · Cited by 12
A metric to design spring stiffness of underactuated fingers for stable grasp
Cui, J., Yan, S., Hu, J. J., & Chu, Z. (2018) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2018.01.001 · Cited by 12
Design of Anthropomorphic Fingers With Biomimetic Actuation Mechanism
Zhang, Z., Han, T., Pan, J., & Wang, Z. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2926955 · Cited by 12
Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects
Mouazé, N., & Birglen, L. (2020) · Journal of Mechanisms and Robotics · doi:10.1115/1.4047988 · Cited by 12
Self-citationLu, Q., Wang, J., Zhang, Z., et al. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561725 · Cited by 11
Mechatronic design of innovative robot hands: Integration and control issues
Palli, G., Pirozzi, S., Natale, C., et al. (2013) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2013.6584351 · Cited by 11
“Researchers have been interested in designing hands with reduced number of actuators [1], with anthropomorphic aspect [2], with high dexterity potentialities [3], with very high speed [4], or compliance [5], or many other specific aspects.”
BackgroundGrasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study
Gailey, A. S., Godfrey, S. B., Breighner, R. E., Andrews, K. L., Zhao, K. D., Bicchi, A., & Santello, M. (2017) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2017.2737539 · Cited by 11
On the Actuation Modes of a Multiloop Mechanism for Space Applications
Li, C., Angeles, J., Guo, H., et al. (2021) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3121723 · Cited by 11
The Yale MyoAdapt Hand: A Highly Functional and Adaptive Single Actuator Prosthesis
Leddy, M. T., & Dollar, A. M. (2022) · IEEE Transactions on Medical Robotics and Bionics · doi:10.1109/tmrb.2022.3193305 · Cited by 11
“These practical limitations have led to electrically actuated designs that aim to fuse the functionality of simple single actuator task-specific devices and multiple actuator anthropomorphic hands through the implementation of underactuated or differential mechanisms [8][9].”
BackgroundStiffness analysis of double tendon underactuated fingers
Belzile, B., & Birglen, L. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907845 · Cited by 11
“This mechanism can be characterized by a Transmission matrix [15] composed of transmission coefficients Xi, with i = 1, .”
BackgroundSelf-citationDesigning Noncircular Pulleys to Realize Target Motion Between Two Joints
Shirafuji, S., Ikemoto, S., & Hosoda, K. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2016.2614961 · Cited by 11
Design of low-cost and easy-assemblable robotic hands with stiff and elastic gear trains
Hirano, Y., Akiyama, K., & Ozawa, R. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759152 · Cited by 11
“One of the parallel linkage mechanism is the combination of stacked four-bar linkages and torsion springs [22], [2], [23], [24].”
BackgroundAn Adaptive Robotic Gripper with L-Shape Fingers for Peg-in-Hole Tasks
Nie, K., Wan, W., & Harada, K. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594370 · Cited by 11
Kang, L., Kim, S.-H., & Yi, B.-J. (2021) · Machines · doi:10.3390/machines9120347 · Cited by 11
Joint control of tendon-driven mechanisms with branching tendons
Sawada, D., & Ozawa, R. (2012) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2012.6224809 · Cited by 11
“Recently, under-actuated robotic hands with fewer actuators than joints have been designed using parallel mechanisms [11], [12] and TDMs with un-actuated elastic tendons [4], [13], [14].”
BackgroundA comparison of workspace and force capabilities between classes of underactuated mechanisms
Balasubramanian, R., & Dollar, A. M. (2011) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2011.5979659 · Cited by 11
“Such specific cases of reconfiguration have been noticed earlier in tendon-driven and linkage-driven underactuated mechanisms but only for specific transmissions [3], [2].”
BackgroundInfluentialDesign and Development of a New Bioinspired Hybrid Robotic Gripper for Multi-Mode Robust Grasping
Wang, X., & Xu, Q. (2023) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2023.3312296 · Cited by 10
Implementation of the Principle of Jamming for Hulk Gripper Remotely Controlled by Raspberry Pi
Rawat, S., Kumar, P., & Jain, G. (2016) · Advances in intelligent systems and computing · doi:10.1007/978-981-10-0448-3_16 · Cited by 11
Static analysis of parallel robots with compliant joints for in-hand manipulation
Borràs, J., & Dollar, A. M. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6386026 · Cited by 10
Development of an underactuated robotic hand using differential gear mechanism
Cheon, S., Choi, W.-H., Oh, S., et al. (2014) · International Conference on Ubiquitous Robots and Ambient Intelligence · doi:10.1109/urai.2014.7057535 · Cited by 10
“In accordance with the number of DOFs and actuators, the robot system can be categorized in the three classes [1].”
BackgroundDesign of an underactuated robot hand based on displacement-force conversion mechanism
Ko, H.-K., Cho, C., Kwon, H.-C., et al. (2012) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-012-0066-7 · Cited by 10
Stable grasping and object reorientation with a three-fingered robotic hand
da Fonseca, V. P., de Oliveira, T. E. A., Eyre, K., et al. (2017) · IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) · doi:10.1109/iris.2017.8250140 · Cited by 10
Design and Analysis of Continuous Rotating Multifunctional Mechanical Gripper
Pei, M., Xu, K., Ding, X., Jiang, S., & Gao, X. (2018) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2018.8665352 · Cited by 10
“The under actuated gripper is more complex and adaptable, but the design of the underactuated gripper is more complex and costly than the traditional industrial mechanical gripper [7-16].”
BackgroundIn-Hand Telemanipulation Using a Robotic Hand and Biology-Inspired Haptic Sensing
da Fonseca, V. P., Lima, B. M. R., de Oliveira, T. E. A., et al. (2019) · IEEE International Symposium on Medical Measurements and Applications (MeMeA) · doi:10.1109/memea.2019.8802139 · Cited by 10
Wearable mechatronic devices for upper-limb amputees
Huaroto, J. J., Suárez, E., & Vela, E. A. (2020) · Elsevier eBooks · doi:10.1016/b978-0-12-821350-6.00008-1 · Cited by 11
Multi-fingered Dexterous Hands: From Simplicity to Complexity and Simplifying Complex Applications
Cai, S., Zhicheng, T., Wan, W., Yu, H., & Guanjun, B. (2021) · Journal of Mechanical Engineering · doi:10.3901/jme.2021.15.001 · Cited by 10
Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks
Simo‐Serra, E., Moreno-Noguer, F., & Gracia, A. P. (2011) · doi:10.1115/detc2011-47818 · Cited by 10
“A more thorough review on underactuated hands can be found in [5].”
BackgroundSalman, H. D., Bakhy, S. H., & Hamzah, M. N. (2020) · IOP Conference Series Materials Science and Engineering · doi:10.1088/1757-899x/928/2/022153 · Cited by 10
Boisclair, J.-M., Laliberté, T., & Gosselin, C. (2022) · Journal of Mechanisms and Robotics · doi:10.1115/1.4055605 · Cited by 9
Self-citationDesign and analysis of a novel deployable grasping manipulator for space object capture
Xu, K., Zhuang, X., Qiao, A., et al. (2024) · Acta Astronautica · doi:10.1016/j.actaastro.2024.08.013 · Cited by 9
Chen, G., Hanxiao, W., & Yin, L. (2024) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ad9aee · Cited by 9
“Differential mechanisms possess shape-adaptive capabilities and are conventionally recognized as under-drive structures [32].”
A Bioinspired Underactuated Dual Tendon-Based Adaptive Gripper for Space Applications
Isakhani, H., Nefti‐Meziani, S., Davis, S., & Isakhani, H. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342142 · Cited by 10
“2(c)-(d), therefore adaptive grasping is introduced by underactuated hands to deliver power grasps [40], [43], [44] in unstructured environments.”
BackgroundDesign of spatial adaptive fingered gripper using spherical five-bar mechanism
Kim, T.-U., & Yonghwan, O. (2014) · International Conference on Advanced Mechatronic Systems · doi:10.1109/icamechs.2014.6911640 · Cited by 9
Kinematics analysis and numerical simulation of a novel underactuated robot wrist
He, B., Liu, W., & Huang, S. (2014) · Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture · doi:10.1177/0954405414535592 · Cited by 9
Grasp compliance regulation in synergistically controlled robotic hands with VSA
Farnioli, E., Gabiccini, M., Bonilla, M., et al. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6696783 · Cited by 9
“However, complex kinematic structures bring difficulties in control and, for this sake, some underactuation mechanisms were studied [4], [5].”
BackgroundDynamic Performance Optimization of a Novel 8-SPU Parallel Walking Mechanism
Wan, X., Yang, J. C., & Zhang, Y. (2019) · Journal of Computing and Information Science in Engineering · doi:10.1115/1.4045409 · Cited by 9
A Novel Underactuated End-Effector for Planar Sequential Grasping of Multiple Objects
Mucchiani, C., & Yim, M. H. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197380 · Cited by 9
Effect of design parameters on strong and immobilizing grasps with an underactuated robotic hand
Hota, R. K., & Kumar, C. S. (2022) · Robotica · doi:10.1017/s0263574722000601 · Cited by 9
“Birglen et al. in their book on underactuated hands [19] study under-actuated hand mechanisms, kinetostatic analysis, grasp stability of underactuated fingers, and optimal design.”
BackgroundSoh, G. S., & Robson, N. P. (2013) · doi:10.1115/dscc2013-4029 · Cited by 9
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
