{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T11:41:33Z","timestamp":1776426093703,"version":"3.51.2"},"reference-count":57,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"54","funder":[{"DOI":"10.13039\/100000179","name":"NSF Office of the Director","doi-asserted-by":"publisher","award":["CMMI-1824882"],"award-info":[{"award-number":["CMMI-1824882"]}],"id":[{"id":"10.13039\/100000179","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008982","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CMMI-1824882"],"award-info":[{"award-number":["CMMI-1824882"]}],"id":[{"id":"10.13039\/501100008982","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2021,5,12]]},"abstract":"<jats:p>A robust approach to grasping combines the mechanics of kirigami with compliant, elastic shells.<\/jats:p>","DOI":"10.1126\/scirobotics.abd6426","type":"journal-article","created":{"date-parts":[[2021,5,12]],"date-time":"2021-05-12T19:11:02Z","timestamp":1620846662000},"source":"Crossref","is-referenced-by-count":190,"title":["Grasping with kirigami shells"],"prefix":"10.1126","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8187-7562","authenticated-orcid":true,"given":"Yi","family":"Yang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA"}]},{"given":"Katherine","family":"Vella","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3870-6562","authenticated-orcid":true,"given":"Douglas P.","family":"Holmes","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2015.2470657"},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","unstructured":"A. Bicchi V. Kumar Robotic grasping and contact: A review in Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings ( Cat. No.00CH37065 ) (IEEE 2000) vol. 1 pp. 348\u2013353.","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/d41586-018-05093-1"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0022-y"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfoodeng.2009.11.020"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-018-0350-6"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax5425"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2716445"},{"key":"e_1_3_2_10_2","doi-asserted-by":"crossref","unstructured":"Y. Hao Z. Gong Z. Xie S. Guan X. Yang Z. Ren T. Wang L. Wen Universal soft pneumatic robotic gripper with variable effective length in 2016 35th Chinese Control Conference ( CCC ) (IEEE 2016) pp. 6109\u20136114.","DOI":"10.1109\/ChiCC.2016.7554316"},{"key":"e_1_3_2_11_2","doi-asserted-by":"crossref","unstructured":"T. Yoshimi N. Iwata M. Mizukawa Y. Ando Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper in 2012 IEEE Workshop on Advanced Robotics and Its Social Impacts ( ARSO ) (IEEE 2012) pp. 7\u201312.","DOI":"10.1109\/ARSO.2012.6213390"},{"key":"e_1_3_2_12_2","unstructured":"Z. Xu E. Todorov Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration 2016 IEEE International Conference on Robotics and Automation ( ICRA ) (IEEE 2016) pp. 3485\u20133492."},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915592961"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1003250107"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920910465"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2662086"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.34763"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0030"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201303288"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201006464"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201800907"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2022426"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201603483"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms15546"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0078-8"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201503078"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X15620037"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1921132117"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cocis.2019.02.008"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00069"},{"key":"e_1_3_2_32_2","doi-asserted-by":"crossref","unstructured":"L. L. Howell S. P. Magleby B. M. Olsen Handbook of Compliant Mechanisms (John Wiley & Sons Ltd. 2013).","DOI":"10.1002\/9781118516485"},{"key":"e_1_3_2_33_2","unstructured":"L. L. Howell Compliant Mechanisms (John Wiley & Sons Ltd. 2001)."},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0009-8"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar2915"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.5194\/ms-2-217-2011"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2056561"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1038\/srep24758"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.118.084301"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41563-019-0452-y"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.matt.2019.09.005"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1906435116"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms9092"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1038\/nmat4327"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14588"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1021\/acsnano.7b03287"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevMaterials.2.110601"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201604214"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1002\/adhm.201701100"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201706390"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mattod.2019.08.013"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201400630"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201201386"},{"key":"e_1_3_2_54_2","unstructured":"C. R. Calladine Theory of Shell Structures (Cambridge Univ. Press 2010)."},{"key":"e_1_3_2_55_2","unstructured":"X.-Y. Zhang Y. Nakamura K. Goda K. Yoshimoto Robustness of power grasp in Proceedings of the 1994 IEEE International Conference on Robotics and Automation (IEEE 1994) vol. 4 pp. 2828\u20132835."},{"key":"e_1_3_2_56_2","doi-asserted-by":"crossref","unstructured":"D. M. Aukes M. R. Cutkosky Simulation-based tools for evaluating underactuated hand designs in 2013 IEEE International Conference on Robotics and Automation (IEEE 2013) pp. 2067\u20132073.","DOI":"10.1109\/ICRA.2013.6630854"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0024-1"},{"key":"e_1_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2014.2385105"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/syndication.highwire.org\/content\/doi\/10.1126\/scirobotics.abd6426","content-type":"unspecified","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abd6426","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,30]],"date-time":"2024-08-30T19:28:12Z","timestamp":1725046092000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abd6426"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,12]]},"references-count":57,"journal-issue":{"issue":"54","published-print":{"date-parts":[[2021,5,12]]}},"alternative-id":["10.1126\/scirobotics.abd6426"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abd6426","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,12]]},"article-number":"eabd6426"}}