The DOI matches its Crossref record; 22 of the 22 references it cites were found in a registry or an index.
A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation
Open accessAbstract
In this letter, we show that soft robotic hands provide a robust means of performing basic primitives of in-hand manipulation in the presence of uncertainty. We first discuss the design of a prototype hand with dexterous soft fingers capable of moving objects within the hand using several basic motion primitives. We then empirically validate the ability of the hand to perform the desired object motion primitives while still maintaining strong grasping capabilities. Based on these primitives, we examine a simple, heuristic finger gait which enables continuous object rotation for a wide variety of object shapes and sizes. Finally, we demonstrate the utility of our dexterous soft robotic hand in three real-world cases: unscrewing the cap of a jar, orienting food items for packaging, and gravity compensation during grasping. Overall, we show that even for complex tasks such as in-hand manipulation, soft robots can perform robustly without the need for local sensing or complex control.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Design, fabrication and control of soft robots
Rus, D., & Tolley, M. T. (2015) · Nature · doi:10.1038/nature14543 · Cited by 5,825
Learning dexterous in-hand manipulation
Andrychowicz, O. M., Baker, B., Chociej, M., Józefowicz, R., McGrew, B., Pachocki, J., Petron, A., Plappert, M., Powell, G., Ray, A., et al. (2020) · The International Journal of Robotics Research · doi:10.1177/0278364919887447 · Cited by 1,643
A novel type of compliant and underactuated robotic hand for dexterous grasping
Deimel, R., & Brock, O. (2016) · The International Journal of Robotics Research · doi:10.1177/0278364915592961 · Cited by 1,084
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
Bicchi, A. (2000) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.897777 · Cited by 895
Soft Robotic Grippers for Biological Sampling on Deep Reefs
Galloway, K. C., Becker, K. P., Phillips, B., Kirby, J., Licht, S., Tchernov, D., Wood, R. J., & Gruber, D. F. (2016) · Soft Robotics · doi:10.1089/soro.2015.0019 · Cited by 848
Self-citationBenchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set
Calli, B., Walsman, A., Singh, A., Srinivasa, S., Abbeel, P., & Dollar, A. M. (2015) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2015.2448951 · Cited by 602
A compliant, underactuated hand for robust manipulation
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D., & Dollar, A. M. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913514466 · Cited by 598
Ultragentle manipulation of delicate structures using a soft robotic gripper
Sinatra, N. R., Teeple, C. B., Vogt, D. M., Parker, K. K., Gruber, D. F., & Wood, R. J. (2019) · Science Robotics · doi:10.1126/scirobotics.aax5425 · Cited by 356
Self-citationExtrinsic dexterity: In-hand manipulation with external forces
Dafle, N. C., Rodriguez, A., Paolini, R., Tang, B., Srinivasa, S. S., Erdmann, M., Mason, M. T., Lundberg, I., Staab, H., & Fuhlbrigge, T. (2014) · 2014 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2014.6907062 · Cited by 271
Learning Dexterous In-Hand Manipulation
OpenAI, Andrychowicz, M., Baker, B., Chociej, M., Jozefowicz, R., McGrew, B., Pachocki, J., Petron, A., Plappert, M., Powell, G., et al. (2018) · arXiv · doi:10.48550/arxiv.1808.00177 · Cited by 248
Cited by
Challenges and Outlook in Robotic Manipulation of Deformable Objects
Zhu, J., Cherubini, A., Dune, C., Navarro-Alarcon, D., Alambeigi, F., Berenson, D., Ficuciello, F., Harada, K., Kober, J., Li, X., et al. (2022) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2022.3147415 · Cited by 265
Metadata
- Authors
- Abondance, S., Teeple, C. B., & Wood, R. J.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2020-10
- Volume
- 5
- Issue
- 4
- Pages
- 5502-5509
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W3040887933
- Cited by
- 253
- References
- 22
- FWCI
- 8.77
- Type
- journal article
- Language
- en
- Open access
- green
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
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation. https://app.cochat.ai/papers/10.1109/lra.2020.3007411
- The paper
- Abondance, S., Teeple, C. B., & Wood, R. J. (2020). A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2020.3007411
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
