Grasp Synthesis for Digital Hands in Multiple Grasp Taxonomy Condition based on Judgment of Graspability using Soft Finger Model Article Swipe
Reiko Takahashi
,
Natsuki Miyata
,
Yusuke Maeda
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.7210/jrsj.41.407
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.7210/jrsj.41.407
For virtual usability evaluation of universal design, our previously-developed grasp synthesis method for human hand model was extended by employing soft finger model. Our previous method treated a hand model as a hard finger that assumes point contact with friction, which was not able to synthesize a grasp with two-point contact that often observed in the real world. Therefore, we incorporated the judgment of graspability based on the soft finger model and confirmed the synthesis of multiple types of plausible grasps including two-point contact through the simulation.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.7210/jrsj.41.407
- https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdf
- OA Status
- diamond
- References
- 9
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4377200954
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4377200954Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.7210/jrsj.41.407Digital Object Identifier
- Title
-
Grasp Synthesis for Digital Hands in Multiple Grasp Taxonomy Condition based on Judgment of Graspability using Soft Finger ModelWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-01-01Full publication date if available
- Authors
-
Reiko Takahashi, Natsuki Miyata, Yusuke MaedaList of authors in order
- Landing page
-
https://doi.org/10.7210/jrsj.41.407Publisher landing page
- PDF URL
-
https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
-
https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdfDirect OA link when available
- Concepts
-
GRASP, Usability, Computer science, Point (geometry), Robotic hand, Human–computer interaction, Robot hand, Artificial intelligence, Mathematics, Robot, Geometry, Programming languageTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
9Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4377200954 |
|---|---|
| doi | https://doi.org/10.7210/jrsj.41.407 |
| ids.doi | https://doi.org/10.7210/jrsj.41.407 |
| ids.openalex | https://openalex.org/W4377200954 |
| fwci | 0.0 |
| type | article |
| title | Grasp Synthesis for Digital Hands in Multiple Grasp Taxonomy Condition based on Judgment of Graspability using Soft Finger Model |
| biblio.issue | 4 |
| biblio.volume | 41 |
| biblio.last_page | 410 |
| biblio.first_page | 407 |
| topics[0].id | https://openalex.org/T10653 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 1.0 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2207 |
| topics[0].subfield.display_name | Control and Systems Engineering |
| topics[0].display_name | Robot Manipulation and Learning |
| topics[1].id | https://openalex.org/T10868 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.9962999820709229 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2204 |
| topics[1].subfield.display_name | Biomedical Engineering |
| topics[1].display_name | Soft Robotics and Applications |
| topics[2].id | https://openalex.org/T10784 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9930999875068665 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2204 |
| topics[2].subfield.display_name | Biomedical Engineering |
| topics[2].display_name | Muscle activation and electromyography studies |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C171268870 |
| concepts[0].level | 2 |
| concepts[0].score | 0.9723436832427979 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q1486676 |
| concepts[0].display_name | GRASP |
| concepts[1].id | https://openalex.org/C170130773 |
| concepts[1].level | 2 |
| concepts[1].score | 0.6058053970336914 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q216378 |
| concepts[1].display_name | Usability |
| concepts[2].id | https://openalex.org/C41008148 |
| concepts[2].level | 0 |
| concepts[2].score | 0.594409167766571 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[2].display_name | Computer science |
| concepts[3].id | https://openalex.org/C28719098 |
| concepts[3].level | 2 |
| concepts[3].score | 0.5458928942680359 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q44946 |
| concepts[3].display_name | Point (geometry) |
| concepts[4].id | https://openalex.org/C2988191880 |
| concepts[4].level | 3 |
| concepts[4].score | 0.4467671811580658 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q40687 |
| concepts[4].display_name | Robotic hand |
| concepts[5].id | https://openalex.org/C107457646 |
| concepts[5].level | 1 |
| concepts[5].score | 0.419631689786911 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q207434 |
| concepts[5].display_name | Human–computer interaction |
| concepts[6].id | https://openalex.org/C2987841220 |
| concepts[6].level | 3 |
| concepts[6].score | 0.41945913434028625 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q40687 |
| concepts[6].display_name | Robot hand |
| concepts[7].id | https://openalex.org/C154945302 |
| concepts[7].level | 1 |
| concepts[7].score | 0.40374502539634705 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[7].display_name | Artificial intelligence |
| concepts[8].id | https://openalex.org/C33923547 |
| concepts[8].level | 0 |
| concepts[8].score | 0.1739763617515564 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q395 |
| concepts[8].display_name | Mathematics |
| concepts[9].id | https://openalex.org/C90509273 |
| concepts[9].level | 2 |
| concepts[9].score | 0.14039206504821777 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[9].display_name | Robot |
| concepts[10].id | https://openalex.org/C2524010 |
| concepts[10].level | 1 |
| concepts[10].score | 0.0963703989982605 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q8087 |
| concepts[10].display_name | Geometry |
| concepts[11].id | https://openalex.org/C199360897 |
| concepts[11].level | 1 |
| concepts[11].score | 0.0 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q9143 |
| concepts[11].display_name | Programming language |
| keywords[0].id | https://openalex.org/keywords/grasp |
| keywords[0].score | 0.9723436832427979 |
| keywords[0].display_name | GRASP |
| keywords[1].id | https://openalex.org/keywords/usability |
| keywords[1].score | 0.6058053970336914 |
| keywords[1].display_name | Usability |
| keywords[2].id | https://openalex.org/keywords/computer-science |
| keywords[2].score | 0.594409167766571 |
| keywords[2].display_name | Computer science |
| keywords[3].id | https://openalex.org/keywords/point |
| keywords[3].score | 0.5458928942680359 |
| keywords[3].display_name | Point (geometry) |
| keywords[4].id | https://openalex.org/keywords/robotic-hand |
| keywords[4].score | 0.4467671811580658 |
| keywords[4].display_name | Robotic hand |
| keywords[5].id | https://openalex.org/keywords/human–computer-interaction |
| keywords[5].score | 0.419631689786911 |
| keywords[5].display_name | Human–computer interaction |
| keywords[6].id | https://openalex.org/keywords/robot-hand |
| keywords[6].score | 0.41945913434028625 |
| keywords[6].display_name | Robot hand |
| keywords[7].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[7].score | 0.40374502539634705 |
| keywords[7].display_name | Artificial intelligence |
| keywords[8].id | https://openalex.org/keywords/mathematics |
| keywords[8].score | 0.1739763617515564 |
| keywords[8].display_name | Mathematics |
| keywords[9].id | https://openalex.org/keywords/robot |
| keywords[9].score | 0.14039206504821777 |
| keywords[9].display_name | Robot |
| keywords[10].id | https://openalex.org/keywords/geometry |
| keywords[10].score | 0.0963703989982605 |
| keywords[10].display_name | Geometry |
| language | en |
| locations[0].id | doi:10.7210/jrsj.41.407 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S2913450704 |
| locations[0].source.issn | 0289-1824, 1884-7145 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | 0289-1824 |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | Journal of the Robotics Society of Japan |
| locations[0].source.host_organization | https://openalex.org/P4320800634 |
| locations[0].source.host_organization_name | Robotics Society of Japan |
| locations[0].source.host_organization_lineage | https://openalex.org/P4320800634 |
| locations[0].source.host_organization_lineage_names | Robotics Society of Japan |
| locations[0].license | |
| locations[0].pdf_url | https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdf |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | Journal of the Robotics Society of Japan |
| locations[0].landing_page_url | https://doi.org/10.7210/jrsj.41.407 |
| indexed_in | crossref |
| authorships[0].author.id | https://openalex.org/A5082083875 |
| authorships[0].author.orcid | https://orcid.org/0000-0002-7959-3288 |
| authorships[0].author.display_name | Reiko Takahashi |
| authorships[0].countries | JP |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I180203408 |
| authorships[0].affiliations[0].raw_affiliation_string | Yokohama National University |
| authorships[0].institutions[0].id | https://openalex.org/I180203408 |
| authorships[0].institutions[0].ror | https://ror.org/03zyp6p76 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I180203408 |
| authorships[0].institutions[0].country_code | JP |
| authorships[0].institutions[0].display_name | Yokohama National University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Reiko Takahashi |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | Yokohama National University |
| authorships[1].author.id | https://openalex.org/A5006752812 |
| authorships[1].author.orcid | https://orcid.org/0000-0001-8987-6831 |
| authorships[1].author.display_name | Natsuki Miyata |
| authorships[1].countries | JP |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I73613424 |
| authorships[1].affiliations[0].raw_affiliation_string | National Institute of Advanced Industrial Science and Technology |
| authorships[1].institutions[0].id | https://openalex.org/I73613424 |
| authorships[1].institutions[0].ror | https://ror.org/01703db54 |
| authorships[1].institutions[0].type | government |
| authorships[1].institutions[0].lineage | https://openalex.org/I73613424 |
| authorships[1].institutions[0].country_code | JP |
| authorships[1].institutions[0].display_name | National Institute of Advanced Industrial Science and Technology |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Natsuki Miyata |
| authorships[1].is_corresponding | False |
| authorships[1].raw_affiliation_strings | National Institute of Advanced Industrial Science and Technology |
| authorships[2].author.id | https://openalex.org/A5069838421 |
| authorships[2].author.orcid | https://orcid.org/0000-0002-9654-6117 |
| authorships[2].author.display_name | Yusuke Maeda |
| authorships[2].countries | JP |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I180203408 |
| authorships[2].affiliations[0].raw_affiliation_string | Yokohama National University |
| authorships[2].institutions[0].id | https://openalex.org/I180203408 |
| authorships[2].institutions[0].ror | https://ror.org/03zyp6p76 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I180203408 |
| authorships[2].institutions[0].country_code | JP |
| authorships[2].institutions[0].display_name | Yokohama National University |
| authorships[2].author_position | last |
| authorships[2].raw_author_name | Yusuke Maeda |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | Yokohama National University |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdf |
| open_access.oa_status | diamond |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Grasp Synthesis for Digital Hands in Multiple Grasp Taxonomy Condition based on Judgment of Graspability using Soft Finger Model |
| has_fulltext | True |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10653 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 1.0 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2207 |
| primary_topic.subfield.display_name | Control and Systems Engineering |
| primary_topic.display_name | Robot Manipulation and Learning |
| related_works | https://openalex.org/W2666340839, https://openalex.org/W2102971868, https://openalex.org/W2128621978, https://openalex.org/W2625202073, https://openalex.org/W2088476797, https://openalex.org/W429889454, https://openalex.org/W4312362134, https://openalex.org/W2007709467, https://openalex.org/W1755628009, https://openalex.org/W2013947590 |
| cited_by_count | 0 |
| locations_count | 1 |
| best_oa_location.id | doi:10.7210/jrsj.41.407 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S2913450704 |
| best_oa_location.source.issn | 0289-1824, 1884-7145 |
| best_oa_location.source.type | journal |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | 0289-1824 |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | Journal of the Robotics Society of Japan |
| best_oa_location.source.host_organization | https://openalex.org/P4320800634 |
| best_oa_location.source.host_organization_name | Robotics Society of Japan |
| best_oa_location.source.host_organization_lineage | https://openalex.org/P4320800634 |
| best_oa_location.source.host_organization_lineage_names | Robotics Society of Japan |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdf |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | journal-article |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | Journal of the Robotics Society of Japan |
| best_oa_location.landing_page_url | https://doi.org/10.7210/jrsj.41.407 |
| primary_location.id | doi:10.7210/jrsj.41.407 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S2913450704 |
| primary_location.source.issn | 0289-1824, 1884-7145 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | 0289-1824 |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | Journal of the Robotics Society of Japan |
| primary_location.source.host_organization | https://openalex.org/P4320800634 |
| primary_location.source.host_organization_name | Robotics Society of Japan |
| primary_location.source.host_organization_lineage | https://openalex.org/P4320800634 |
| primary_location.source.host_organization_lineage_names | Robotics Society of Japan |
| primary_location.license | |
| primary_location.pdf_url | https://www.jstage.jst.go.jp/article/jrsj/41/4/41_41_407/_pdf |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | Journal of the Robotics Society of Japan |
| primary_location.landing_page_url | https://doi.org/10.7210/jrsj.41.407 |
| publication_date | 2023-01-01 |
| publication_year | 2023 |
| referenced_works | https://openalex.org/W969700899, https://openalex.org/W2216018474, https://openalex.org/W2036637075, https://openalex.org/W4200255587, https://openalex.org/W4285211335, https://openalex.org/W2282481780, https://openalex.org/W2770475851, https://openalex.org/W4244404253, https://openalex.org/W2178881592 |
| referenced_works_count | 9 |
| abstract_inverted_index.a | 27, 31, 46 |
| abstract_inverted_index.as | 30 |
| abstract_inverted_index.by | 18 |
| abstract_inverted_index.in | 54 |
| abstract_inverted_index.of | 4, 63, 75, 78 |
| abstract_inverted_index.on | 66 |
| abstract_inverted_index.to | 44 |
| abstract_inverted_index.we | 59 |
| abstract_inverted_index.For | 0 |
| abstract_inverted_index.Our | 23 |
| abstract_inverted_index.and | 71 |
| abstract_inverted_index.for | 12 |
| abstract_inverted_index.not | 42 |
| abstract_inverted_index.our | 7 |
| abstract_inverted_index.the | 55, 61, 67, 73, 85 |
| abstract_inverted_index.was | 16, 41 |
| abstract_inverted_index.able | 43 |
| abstract_inverted_index.hand | 14, 28 |
| abstract_inverted_index.hard | 32 |
| abstract_inverted_index.real | 56 |
| abstract_inverted_index.soft | 20, 68 |
| abstract_inverted_index.that | 34, 51 |
| abstract_inverted_index.with | 38, 48 |
| abstract_inverted_index.based | 65 |
| abstract_inverted_index.grasp | 9, 47 |
| abstract_inverted_index.human | 13 |
| abstract_inverted_index.model | 15, 29, 70 |
| abstract_inverted_index.often | 52 |
| abstract_inverted_index.point | 36 |
| abstract_inverted_index.types | 77 |
| abstract_inverted_index.which | 40 |
| abstract_inverted_index.finger | 21, 33, 69 |
| abstract_inverted_index.grasps | 80 |
| abstract_inverted_index.method | 11, 25 |
| abstract_inverted_index.model. | 22 |
| abstract_inverted_index.world. | 57 |
| abstract_inverted_index.assumes | 35 |
| abstract_inverted_index.contact | 37, 50, 83 |
| abstract_inverted_index.design, | 6 |
| abstract_inverted_index.through | 84 |
| abstract_inverted_index.treated | 26 |
| abstract_inverted_index.virtual | 1 |
| abstract_inverted_index.extended | 17 |
| abstract_inverted_index.judgment | 62 |
| abstract_inverted_index.multiple | 76 |
| abstract_inverted_index.observed | 53 |
| abstract_inverted_index.previous | 24 |
| abstract_inverted_index.confirmed | 72 |
| abstract_inverted_index.employing | 19 |
| abstract_inverted_index.friction, | 39 |
| abstract_inverted_index.including | 81 |
| abstract_inverted_index.plausible | 79 |
| abstract_inverted_index.synthesis | 10, 74 |
| abstract_inverted_index.two-point | 49, 82 |
| abstract_inverted_index.universal | 5 |
| abstract_inverted_index.usability | 2 |
| abstract_inverted_index.Therefore, | 58 |
| abstract_inverted_index.evaluation | 3 |
| abstract_inverted_index.synthesize | 45 |
| abstract_inverted_index.simulation. | 86 |
| abstract_inverted_index.graspability | 64 |
| abstract_inverted_index.incorporated | 60 |
| abstract_inverted_index.previously-developed | 8 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile.value | 0.0634643 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |