{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,4]],"date-time":"2025-07-04T07:47:54Z","timestamp":1751615274863,"version":"3.40.3"},"publisher-location":"Cham","reference-count":26,"publisher":"Springer Nature Switzerland","isbn-type":[{"type":"print","value":"9783031222153"},{"type":"electronic","value":"9783031222160"}],"license":[{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023]]},"DOI":"10.1007\/978-3-031-22216-0_4","type":"book-chapter","created":{"date-parts":[[2023,1,17]],"date-time":"2023-01-17T04:39:26Z","timestamp":1673930366000},"page":"46-61","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Benchmarking Variable-Stiffness Grippers"],"prefix":"10.1007","author":[{"given":"Daniel","family":"Cardin-Catalan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Angel P.","family":"del Pobil","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Morales","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,1,18]]},"reference":[{"key":"4_CR1","doi-asserted-by":"crossref","unstructured":"Rodi\u0107, A., Miloradovi\u0107, B., Popi\u0107, S., Spasojevi\u0107, S., Karan, B.: Development of modular compliant anthropomorphic robot hand. In: Mechanisms and Machine Science, vol. 16, pp. 205\u2013219. Springer, Cham (2014)","DOI":"10.1007\/978-3-319-01592-7_15"},{"issue":"7553","key":"4_CR2","doi-asserted-by":"publisher","first-page":"467","DOI":"10.1038\/nature14543","volume":"521","author":"D Rus","year":"2015","unstructured":"Rus, D., Tolley, M.T.: Design, fabrication and control of soft robots. Nature 521(7553), 467\u2013475 (2015)","journal-title":"Nature"},{"key":"4_CR3","doi-asserted-by":"crossref","unstructured":"Pfeifer, R., Lungarella, M., Iida, F.: The challenges ahead for bio-inspired \u201csoft\u201d robotics. Commun. ACM 55(11), 76 (2012)","DOI":"10.1145\/2366316.2366335"},{"issue":"2","key":"4_CR4","doi-asserted-by":"publisher","first-page":"102","DOI":"10.1038\/s41928-018-0024-1","volume":"1","author":"SI Rich","year":"2018","unstructured":"Rich, S.I., Wood, R.J., Majidi, C.: Untethered soft robotics. Nat. Electron. 1(2), 102\u2013112 (2018)","journal-title":"Nat. Electron."},{"key":"4_CR5","doi-asserted-by":"crossref","unstructured":"Pfeifer, R., Lungarella, M., Iida, F.: Self-organization, embodiment, and biologically inspired robotics (2007)","DOI":"10.1126\/science.1145803"},{"key":"4_CR6","doi-asserted-by":"crossref","unstructured":"Mizushima, K., Oku, T., Suzuki, Y., Tsuji, T., Watanabe, T.: Multi-fingered robotic hand based on hybrid mechanism of tendon-driven and jamming transition. In: 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018, Apr 2018, pp. 376\u2013381. IEEE (2018)","DOI":"10.1109\/ROBOSOFT.2018.8404948"},{"key":"4_CR7","unstructured":"Hao, Y., Wang, T., Fang, X., Yang, K., Mao, L., Guan, J., Wen, L.: A variable stiffness soft robotic gripper with low-melting-point alloy. In: Chinese Control Conference, CCC, July 2017, pp. 6781\u20136786. IEEE (2017)"},{"key":"4_CR8","doi-asserted-by":"crossref","unstructured":"Yang, Y., Chen, Y.: 3D printing of smart materials for robotics with variable stiffness and position feedback. In: IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, July 2017, pp. 418\u2013423. IEEE (2017)","DOI":"10.1109\/AIM.2017.8014053"},{"key":"4_CR9","doi-asserted-by":"crossref","unstructured":"Memar, A.H., Mastronarde, N., Esfahani, E.T.: Design of a novel variable stiffness gripper using permanent magnets. In: Proceedings - IEEE International Conference on Robotics and Automation, May 2017, pp. 2818\u20132823. IEEE (2017)","DOI":"10.1109\/ICRA.2017.7989328"},{"key":"4_CR10","doi-asserted-by":"crossref","unstructured":"Firouzeh, A., Paik, J.: An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes. Smart Mater. Struct. 26(5), 055035 (2017)","DOI":"10.1088\/1361-665X\/aa67fd"},{"key":"4_CR11","doi-asserted-by":"crossref","unstructured":"Manti, M., Cacucciolo, V., Cianchetti, M.: Stiffening in soft robotics: a review of the state of the art. IEEE Robot. Autom. Mag. 23(3), 93\u2013106 (2016)","DOI":"10.1109\/MRA.2016.2582718"},{"key":"4_CR12","doi-asserted-by":"crossref","first-page":"334","DOI":"10.1007\/978-3-030-01370-7_27","volume":"867","author":"D Cardin-Catalan","year":"2019","unstructured":"Cardin-Catalan, D., del Pobil, A.P., Morales, A.: Analysis of variable-stiffness soft finger joints. Adv. Intell. Syst. Comput. 867, 334\u2013345 (2019)","journal-title":"Adv. Intell. Syst. Comput."},{"key":"4_CR13","doi-asserted-by":"crossref","unstructured":"Shahid, Z., Glatman, A.L., Ryu, S.C.: Design of a soft composite finger with adjustable joint stiffness. Soft Robot. 1\u201311 (2019)","DOI":"10.1089\/soro.2018.0148"},{"issue":"5","key":"4_CR14","doi-asserted-by":"publisher","first-page":"2165","DOI":"10.1109\/TMECH.2017.2732827","volume":"22","author":"A Firouzeh","year":"2017","unstructured":"Firouzeh, A., Paik, J.: Grasp mode and compliance control of an underactuated origami gripper using adjustable stiffness joints. IEEE\/ASME Trans. Mechatron. 22(5), 2165\u20132173 (2017)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"3","key":"4_CR15","doi-asserted-by":"publisher","first-page":"396","DOI":"10.1089\/soro.2018.0123","volume":"7","author":"J Li","year":"2020","unstructured":"Li, J., Sun, M., Wu, Z., Yin, H.: Design, analysis, and grasping experiments of a novel soft hand: hybrid actuator using shape memory alloy actuators, motors, and electromagnets. Soft Robot. 7(3), 396\u2013407 (2020). PMID: 31905330","journal-title":"Soft Robot."},{"key":"4_CR16","doi-asserted-by":"crossref","unstructured":"Amend, J.R., Brown, E., Rodenberg, N., Jaeger, H.M., Lipson, H.: A positive pressure universal gripper based on the jamming of granular material. IEEE Trans. Robot. 28(2), 341\u2013350 (2012)","DOI":"10.1109\/TRO.2011.2171093"},{"issue":"3","key":"4_CR17","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1089\/soro.2016.0027","volume":"3","author":"Q Chen","year":"2016","unstructured":"Chen, Q., Wei, Y., Ren, T., Li, Y., Yang, Y., Chen, Y., Yan, C.: A novel, variable stiffness robotic gripper based on integrated soft actuating and particle jamming. Soft Robot. 3(3), 134\u2013143 (2016)","journal-title":"Soft Robot."},{"issue":"6","key":"4_CR18","doi-asserted-by":"publisher","DOI":"10.1115\/1.4033728","volume":"8","author":"Y Yang","year":"2016","unstructured":"Yang, Y., Chen, Y., Wei, Y., Li, Y.: Novel design and three-dimensional printing of variable stiffness robotic grippers. J. Mech. Robot. 8(6), 061010 (2016)","journal-title":"J. Mech. Robot."},{"issue":"4","key":"4_CR19","doi-asserted-by":"publisher","first-page":"487","DOI":"10.1007\/s12541-018-0059-2","volume":"19","author":"KB Ham","year":"2018","unstructured":"Ham, K.B., Han, J., Park, Y.J.: Soft gripper using variable stiffness mechanism and its application. Int. J. Precis. Eng. Manuf. 19(4), 487\u2013494 (2018)","journal-title":"Int. J. Precis. Eng. Manuf."},{"issue":"3","key":"4_CR20","doi-asserted-by":"publisher","first-page":"1104","DOI":"10.1109\/TASE.2017.2732729","volume":"15","author":"X Li","year":"2018","unstructured":"Li, X., Chen, W., Lin, W., Low, K.H.: A variable stiffness robotic gripper based on structure-controlled principle. IEEE Trans. Autom. Sci. Eng. 15(3), 1104\u20131113 (2018)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"1","key":"4_CR21","first-page":"29","volume":"6","author":"Y Fei","year":"2018","unstructured":"Fei, Y., Wang, J., Pang, W.: A novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist. Soft Robot. 6(1), 29\u201331 (2018)","journal-title":"Soft Robot."},{"key":"4_CR22","doi-asserted-by":"crossref","unstructured":"Jiang, Y., Chen, D., Liu, C., Li, J.: Chain-like granular jamming: a novel stiffness-programmable mechanism for soft robotics. Soft Robot. 1\u201315 (2018)","DOI":"10.1089\/soro.2018.0005"},{"key":"4_CR23","first-page":"1806698","volume":"1806698","author":"Q Ge","year":"2019","unstructured":"Ge, Q., Gu, G., Wang, D., Zhang, B., Zhang, N., Yuan, C., Hingorani, H., Ding, N., Zhang, Y.F.: Fast-response, stiffness-tunable soft actuator by hybrid multimaterial 3D printing. Adv. Funct. Mater. 1806698, 1806698 (2019)","journal-title":"Adv. Funct. Mater."},{"key":"4_CR24","doi-asserted-by":"crossref","unstructured":"Calli, B., Walsman, A., Singh, A., Srinivasa, S., Abbeel, P., Dollar, A.M.: Benchmarking in manipulation research: using the Yale-CMU-Berkeley object and model set. IEEE Robot. Autom. Mag. 22(3), 36\u201352 (2015)","DOI":"10.1109\/MRA.2015.2448951"},{"key":"4_CR25","unstructured":"Falco, J., Wyk, K.V., Messina, E.: Performance Metrics and Test Methods for Robotic Hands"},{"issue":"2","key":"4_CR26","doi-asserted-by":"publisher","first-page":"1235","DOI":"10.1016\/j.aej.2021.06.045","volume":"61","author":"D Cardin-Catalan","year":"2022","unstructured":"Cardin-Catalan, D., Ceppetelli, S., del Pobil, A.P., Morales, A.: Design and analysis of a variable-stiffness robotic gripper. Alex. Eng. J. 61(2), 1235\u20131248 (2022)","journal-title":"Alex. Eng. J."}],"container-title":["Lecture Notes in Networks and Systems","Intelligent Autonomous Systems 17"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-22216-0_4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,4]],"date-time":"2023-12-04T21:09:35Z","timestamp":1701724175000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-22216-0_4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023]]},"ISBN":["9783031222153","9783031222160"],"references-count":26,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-22216-0_4","relation":{},"ISSN":["2367-3370","2367-3389"],"issn-type":[{"type":"print","value":"2367-3370"},{"type":"electronic","value":"2367-3389"}],"subject":[],"published":{"date-parts":[[2023]]},"assertion":[{"value":"18 January 2023","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"IAS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Autonomous Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Zagreb","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Croatia","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2022","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"13 June 2022","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"16 June 2022","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"17","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"ias2022","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.ias-17.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}