{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T00:06:53Z","timestamp":1769040413880,"version":"3.49.0"},"reference-count":24,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T00:00:00Z","timestamp":1565049600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,8,21]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly self-adaptive finger.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. And a double-linkage-slider mechanism is designed as the switch device.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2018-0247","type":"journal-article","created":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T03:51:55Z","timestamp":1565063515000},"page":"660-671","source":"Crossref","is-referenced-by-count":11,"title":["A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism"],"prefix":"10.1108","volume":"46","author":[{"given":"Siyun","family":"Liu","sequence":"first","affiliation":[]},{"given":"Wenzeng","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Jie","family":"Sun","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2019,8,6]]},"reference":[{"key":"key2022103114485854200_ref001","article-title":"Comparative clinical evaluation of the yale multigrasp hand","volume-title":"6th IEEE International Conference on Biomedical Robotics and Biomechatronics 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