{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T16:59:45Z","timestamp":1780419585489,"version":"3.54.1"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,7,20]],"date-time":"2022-07-20T00:00:00Z","timestamp":1658275200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,7,20]],"date-time":"2022-07-20T00:00:00Z","timestamp":1658275200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,8]]},"DOI":"10.1007\/s10846-022-01569-5","type":"journal-article","created":{"date-parts":[[2022,7,20]],"date-time":"2022-07-20T13:03:11Z","timestamp":1658322191000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Practical Model of Hybrid Robotic Hands for Grasping Applications Based on Bioinspired Form"],"prefix":"10.1007","volume":"105","author":[{"given":"Yongyao","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Cong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dong","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7208-2688","authenticated-orcid":false,"given":"Yu","family":"Du","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,7,20]]},"reference":[{"key":"1569_CR1","doi-asserted-by":"publisher","first-page":"eaat8414","DOI":"10.1126\/science.aat8414","volume":"364","author":"A Billard","year":"2019","unstructured":"Billard, A., Kragic, D.: Trends and challenges in robot manipulation. Science. 364, eaat8414 (2019)","journal-title":"Science"},{"key":"1569_CR2","doi-asserted-by":"publisher","first-page":"652","DOI":"10.1109\/TRO.2016.2558193","volume":"32","author":"CH Xiong","year":"2016","unstructured":"Xiong, C.H., Chen, W.R., Sun, B.Y., Liu, M.J., Yue, S.G., Chen, W.B.: Design and implementation of an anthropomorphic hand for replicating human grasping functions. IEEE Trans. Robot. 32, 652\u2013671 (2016)","journal-title":"IEEE Trans. Robot."},{"key":"1569_CR3","doi-asserted-by":"publisher","first-page":"161","DOI":"10.1177\/0278364915592961","volume":"35","author":"R Deimel","year":"2016","unstructured":"Deimel, R., Brock, O.: A novel type of compliant and underactuated robotic hand for dexterous grasping. Int. J. Robot. Res. 35, 161\u2013185 (2016)","journal-title":"Int. J. Robot. Res."},{"key":"1569_CR4","unstructured":"Hong, L., Wu, K., Meusel, P., et al: Multisensory five-finger dexterous hand: the DLR\/HIT Hand II. In: 2008 IEEE\/RSJ International Conference on Intelligent Robots & Systems (IROS), pp 3692\u20133697 (2008)"},{"key":"1569_CR5","doi-asserted-by":"crossref","unstructured":"Deimel, R., Brock, O.: A compliant hand based on a novel pneumatic actuator. In: 2013 IEEE International Conference on Robotics & Automation (ICRA), pp 2047\u20132053 (2013)","DOI":"10.1109\/ICRA.2013.6630851"},{"key":"1569_CR6","doi-asserted-by":"crossref","unstructured":"Polygerinos, P., Lyne, S., Wang, Z., et al.: Towards a soft pneumatic glove for hand rehabilitation. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots & Systems (IROS), pp 1512\u20131517 (2013)","DOI":"10.1109\/IROS.2013.6696549"},{"key":"1569_CR7","doi-asserted-by":"publisher","first-page":"205","DOI":"10.1002\/adma.201203002","volume":"25","author":"RV Martinez","year":"2013","unstructured":"Martinez, R.V., Branch, J.L., Fish, C.R., Jin, L., Shepherd, R.F., Nunes, R.M.D., Suo, Z., Whitesides, G.M.: Robotic tentacles with three-dimensional mobility based on flexible elastomers. Adv. Mater. 25, 205\u2013212 (2013)","journal-title":"Adv. Mater."},{"key":"1569_CR8","doi-asserted-by":"publisher","first-page":"213","DOI":"10.1089\/soro.2014.0008","volume":"1","author":"MT Tolley","year":"2014","unstructured":"Tolley, M.T., Shepherd, R.F., Mosadegh, B., Galloway, K.C., Wehner, M., Karpelson, M., Wood, R.J., Whitesides, G.M.: A resilient, untethered soft robot. Soft Robot. 1, 213\u2013223 (2014)","journal-title":"Soft Robot."},{"key":"1569_CR9","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1016\/j.robot.2014.08.014","volume":"73","author":"P Polygerinos","year":"2015","unstructured":"Polygerinos, P., Wang, Z., Galloway, K.C., Wood, R.J., Walsh, C.J.: Soft robotic glove for combined assistance and at-home rehabilitation. Robot. Auton. Syst. 73, 135\u2013143 (2015)","journal-title":"Robot. Auton. Syst."},{"key":"1569_CR10","volume-title":"Biosystems & Biorobotics","author":"U Culha","year":"2017","unstructured":"Culha, U., Hughes, J., Rosendo, A., Giardina, F., Iida, F.: Design principles for soft-rigid hybrid manipulators. In: Laschi, C., Rossiter, J., Iida, F., et al. (eds.) Biosystems & Biorobotics. Springer, Cham (2017)"},{"issue":"1","key":"1569_CR11","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1089\/soro.2016.0037","volume":"4","author":"J Amend","year":"2017","unstructured":"Amend, J., Lipson, H.: The JamHand: dexterous manipulation with minimal actuation. Soft Robot. 4(1), 70\u201380 (2017)","journal-title":"Soft Robot."},{"issue":"2","key":"1569_CR12","doi-asserted-by":"publisher","first-page":"446","DOI":"10.1109\/TRO.2016.2636899","volume":"33","author":"Y Li","year":"2017","unstructured":"Li, Y., Chen, Y., Yang, Y., et al.: Passive particle jamming and its stiffening of soft robotic grippers. IEEE Trans. Robot. 33(2), 446\u2013455 (2017)","journal-title":"IEEE Trans. Robot."},{"key":"1569_CR13","doi-asserted-by":"crossref","unstructured":"Narang, Y.S., Vlassak, J.J., Howe, R.D.: Mechanically versatile soft machines through laminar jamming. Adv. Funct. Mater. 28(17),1707136(2018)","DOI":"10.1002\/adfm.201707136"},{"issue":"27","key":"1569_CR14","doi-asserted-by":"publisher","first-page":"1605985","DOI":"10.1002\/adma.201605985","volume":"29","author":"N Kazem","year":"2017","unstructured":"Kazem, N., Hellebrekers, T., Majidi, C.: Soft multifunctional composites and emulsions with liquid metals. Adv. Mater. 29(27), 1605985 (2017)","journal-title":"Adv. Mater."},{"issue":"12","key":"1569_CR15","doi-asserted-by":"publisher","first-page":"1700179","DOI":"10.1002\/admt.201700179","volume":"2","author":"S Rich","year":"2017","unstructured":"Rich, S., Jang, S.H., Park, Y.L., Majidi, C.: Liquid metal-conductive thermoplastic elastomer integration for low-voltage stiffness tuning. Adv. Mater. Technol. 2(12), 1700179 (2017)","journal-title":"Adv. Mater. Technol."},{"issue":"1","key":"1569_CR16","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1089\/soro.2015.0015","volume":"3","author":"A Tonazzini","year":"2016","unstructured":"Tonazzini, A., Sadeghi, A., Mazzolai, B.: Electrorheological valves for flexible fluidic actuators. Soft Robot. 3(1), 34\u201341 (2016)","journal-title":"Soft Robot."},{"issue":"1","key":"1569_CR17","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1146\/annurev-fluid-120710-101024","volume":"44","author":"S Ping","year":"2012","unstructured":"Ping, S., Wen, W.: Electrorheological fluids: mechanisms, dynamics, and microfluidics applications. Rev. Fluid Mech. 44(1), 143\u2013174 (2012)","journal-title":"Rev. Fluid Mech."},{"issue":"04","key":"1569_CR18","doi-asserted-by":"publisher","first-page":"1650017","DOI":"10.1142\/S0219843616500171","volume":"13","author":"T Nishida","year":"2016","unstructured":"Nishida, T., Okatani, Y., Tadakuma, K.: Development of universal robot gripper using MR \u03b1 fluid. Int. J. Humanoid Robot. 13(04), 1650017 (2016)","journal-title":"Int. J. Humanoid Robot."},{"issue":"4","key":"1569_CR19","doi-asserted-by":"publisher","first-page":"765","DOI":"10.1109\/TRO.2017.2692266","volume":"33","author":"A Firouzeh","year":"2017","unstructured":"Firouzeh, A., Salerno, M., Paik, J.: Stiffness control with shape memory polymer in underactuated robotic origamis. IEEE Trans. Robot. 33(4), 765\u2013777 (2017)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"1569_CR20","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1089\/soro.2016.0081","volume":"4","author":"W Wang","year":"2017","unstructured":"Wang, W., Ahn, S.: Shape memory alloy-based soft gripper with variable stiffness for compliant and effective grasping. Soft Robot. 4(4), 379\u2013389 (2017)","journal-title":"Soft Robot."},{"issue":"2","key":"1569_CR21","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1089\/soro.2016.0034","volume":"4","author":"Y Yang","year":"2017","unstructured":"Yang, Y., Chen, Y., Li, Y., Chen, M.Z.Q., Wei, Y.: Bioinspired robotic fingers based on pneumatic actuator and 3D printing of smart material. Soft Robot. 4(2), 147\u2013162 (2017)","journal-title":"Soft Robot."},{"issue":"5","key":"1569_CR22","doi-asserted-by":"publisher","first-page":"736","DOI":"10.1177\/0278364913514466","volume":"33","author":"LU Odhner","year":"2014","unstructured":"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.: A compliant, underactuated hand for robust manipulation. Int. J. Robot. Res. 33(5), 736\u2013752 (2014)","journal-title":"Int. J. Robot. Res."},{"key":"1569_CR23","doi-asserted-by":"publisher","first-page":"768","DOI":"10.1177\/0278364913518998","volume":"33","author":"MG Catalano","year":"2014","unstructured":"Catalano, M.G., Grioli, G., Farnioli, E., Serio, A., Piazza, C., Bicchi, A.: Adaptive synergies for the design and control of the Pisa\/IIT SoftHand. Int. J. Robot. Res. 33, 768\u2013782 (2014)","journal-title":"Int. J. Robot. Res."},{"key":"1569_CR24","doi-asserted-by":"publisher","first-page":"eaau3098","DOI":"10.1126\/scirobotics.aau3098","volume":"3","author":"JE Hughes","year":"2018","unstructured":"Hughes, J.E., Maiolino, P., Iida, F.: An anthropomorphic soft skeleton hand exploiting conditional models for piano playing. Sci. Robot. 3, eaau3098 (2018)","journal-title":"Sci. Robot"},{"issue":"1","key":"1569_CR25","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1109\/LRA.2018.2878972","volume":"4","author":"W Park","year":"2018","unstructured":"Park, W., Seo, S., Bae, J.: A hybrid gripper with soft material and rigid structures. IEEE Robot. Autom. Lett. 4(1), 65\u201372 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1569_CR26","doi-asserted-by":"crossref","unstructured":"Chen, Y., Le, S., Tan, Q.C., et al: A reconfigurable hybrid actuator with rigid and soft components. In: 2017 IEEE International Conference on Robotics & Automation (ICRA), pp 58\u201363 (2017)","DOI":"10.1109\/ICRA.2017.7988691"},{"key":"1569_CR27","doi-asserted-by":"publisher","first-page":"778","DOI":"10.1109\/TRO.2015.2428504","volume":"31","author":"P Polygerinos","year":"2015","unstructured":"Polygerinos, P., Wang, Z., Overvelde, J.B., et al.: Modeling of soft fiber-reinforced bending actuators. IEEE Trans. Robot. 31, 778\u2013789 (2015)","journal-title":"IEEE Trans. Robot."},{"key":"1569_CR28","doi-asserted-by":"publisher","first-page":"66","DOI":"10.1109\/THMS.2015.2470657","volume":"46","author":"T Feix","year":"2016","unstructured":"Feix, T., Romero, J., Schmiedmayer, H., et al.: The GRASP taxonomy of human grasp types. IEEE Trans. Hum.-Mach. Syst. 46, 66\u201377 (2016)","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"1569_CR29","unstructured":"Elkoura, G., Singh, K.: Handrix: animating the human hand. In: Symposium on Computer Animation, pp 110\u2013119 (2003)"},{"key":"1569_CR30","doi-asserted-by":"crossref","unstructured":"Matrone, G., Cipriani, C., Secco, E.L., et al: Bio-inspired controller for a dexterous prosthetic hand based on principal components analysis. In: 31st Annual International Conference of the IEEE EMBS Minneapolis, pp 5022\u20135025 (2009)","DOI":"10.1109\/IEMBS.2009.5333826"},{"key":"1569_CR31","doi-asserted-by":"crossref","unstructured":"Fujiki, R., Arita, D., Taniguchi, R.I.: Real-time 3D hand shape estimation based on inverse kinematics and physical constraints. In: 2005 International Conference on Image Analysis and Processing (ICIAP), pp 850\u2013858 (2005)","DOI":"10.1007\/11553595_104"},{"key":"1569_CR32","doi-asserted-by":"publisher","first-page":"94","DOI":"10.1007\/s42235-017-0007-3","volume":"15","author":"Y Zhang","year":"2018","unstructured":"Zhang, Y., Deng, H., Zhong, G.: Humanoid design of mechanical fingers using a motion coupling and shape-adaptive linkage mechanism. J. Bionic Eng. 15, 94\u2013105 (2018)","journal-title":"J. Bionic Eng."},{"key":"1569_CR33","unstructured":"The electronic textbook of hand surgery. http:\/\/www.eatonhand.com\/hw\/facts.htm. Accessed 10 Jan (2021)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01569-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01569-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01569-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,12]],"date-time":"2022-09-12T14:28:33Z","timestamp":1662992913000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01569-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,20]]},"references-count":33,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,8]]}},"alternative-id":["1569"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01569-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,7,20]]},"assertion":[{"value":"8 July 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 January 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 July 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare there is no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}}],"article-number":"73"}}