{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T05:41:03Z","timestamp":1784180463255,"version":"3.55.0"},"reference-count":37,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2018,10,1]],"date-time":"2018-10-01T00:00:00Z","timestamp":1538352000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/OAPA.html"}],"funder":[{"name":"European Unions Horizon 2020 Research and Innovation Program","award":["645599"],"award-info":[{"award-number":["645599"]}]},{"name":"European Unions Horizon 2020 Research and Innovation Program","award":["688857"],"award-info":[{"award-number":["688857"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2018,10]]},"DOI":"10.1109\/tro.2018.2830407","type":"journal-article","created":{"date-parts":[[2018,6,6]],"date-time":"2018-06-06T19:14:13Z","timestamp":1528312453000},"page":"1141-1156","source":"Crossref","is-referenced-by-count":200,"title":["Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa\/IIT SoftHand 2"],"prefix":"10.1109","volume":"34","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1067-1134","authenticated-orcid":false,"given":"Cosimo Della","family":"Santina","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0358-8677","authenticated-orcid":false,"given":"Cristina","family":"Piazza","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5310-2997","authenticated-orcid":false,"given":"Giorgio","family":"Grioli","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1950-6186","authenticated-orcid":false,"given":"Manuel G.","family":"Catalano","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8635-5571","authenticated-orcid":false,"given":"Antonio","family":"Bicchi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","first-page":"381","article-title":"Hypergraphs","volume":"1","author":"duchet","year":"1996","journal-title":"Handbook of Combinatorics"},{"key":"ref32","article-title":"Sapporo high precision ball bearings datasheet","year":"0"},{"key":"ref31","first-page":"4637","article-title":"Analysis of the synergies underlying complex hand manipulation","volume":"2","author":"todorov","year":"0","journal-title":"Proc 26th Annu Int Conf IEEE Eng Med Biol Soc"},{"key":"ref30","first-page":"3738","article-title":"A data-driven kinematic model of the\n human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis","author":"gabiccini","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref37","first-page":"3516","article-title":"Softhand pro-d: Matching dynamic content of natural user commands with hand embodiment for\n enhanced prosthesis control","author":"piazza","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref36","first-page":"403","article-title":"A new computational model of friction applied to haptic rendering","author":"hayward","year":"0","journal-title":"Proc Experimental Robot VII"},{"key":"ref35","first-page":"1356","article-title":"Preliminary results toward a naturally controlled multi-synergistic prosthetic hand","author":"rossi","year":"0","journal-title":"Proc Int Conf Rehabil Robot"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2636366"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.5194\/ms-1-19-2010"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913514466"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1177\/0278364915592961","article-title":"A novel type of compliant and underactuated robotic hand for dexterous grasping","volume":"35","author":"deimel","year":"2015","journal-title":"Int J Robot Res"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-018-1949-2"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.3389\/fncom.2013.00023"},{"key":"ref15","first-page":"3270","article-title":"Dexterous\n grasping via eigengrasps: A low-dimensional approach to a high-complexity problem","author":"ciocarlie","year":"0","journal-title":"Proc Robot Sci Syst Manipulation Workshop—Sens Adapting Real World"},{"key":"ref16","first-page":"2877","article-title":"Inter-finger coordination and postural synergies in robot hands via mechanical implementation of\n principal components analysis","author":"brown","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2011.0152"},{"key":"ref18","first-page":"1251","article-title":"Adaptive synergies: An approach to the design of under-actuated\n robotic hands","author":"grioli","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913518998"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4512-07.2008"},{"key":"ref4","article-title":"Servo\n robot gripper","author":"zaremsky","year":"0"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.01.011"},{"key":"ref3","first-page":"3485","article-title":"Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration","author":"xu","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909360852"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2017.00041"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.1374198"},{"key":"ref8","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-77459-4","volume":"40","author":"birglen","year":"2008","journal-title":"Underactuated Robotic Hands"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2011.07.0125"},{"key":"ref2","first-page":"3175","article-title":"The DLR hand arm system","author":"grebenstein","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.901936"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1108\/01439910510573237"},{"key":"ref20","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1177\/027836498900800402","article-title":"Grasping and coordinated\n manipulation by a multifingered robot hand","volume":"8","author":"li","year":"1989","journal-title":"Int J Robot Res"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2693391"},{"key":"ref21","first-page":"378","article-title":"Optimal\n control with learned local models: Application to dexterous manipulation","author":"kumar","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref24","first-page":"497","article-title":"Dexterity augmentation on a synergistic hand: The pisa\/iit\n softhand+","author":"santina","year":"0","journal-title":"Proc IEEE-RAS 15th Int Conf Humanoid Robots"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2011.02.038"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.triboint.2005.11.014"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.18-23-10105.1998"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/8478841\/08373731.pdf?arnumber=8373731","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,26]],"date-time":"2022-01-26T10:10:55Z","timestamp":1643191855000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8373731\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,10]]},"references-count":37,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tro.2018.2830407","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,10]]}}}