{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T23:50:03Z","timestamp":1782949803023,"version":"3.54.5"},"reference-count":22,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2011,9]]},"abstract":"<jats:p> A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand. <\/jats:p>","DOI":"10.1142\/s0219843611002538","type":"journal-article","created":{"date-parts":[[2011,12,12]],"date-time":"2011-12-12T07:07:10Z","timestamp":1323673630000},"page":"459-479","source":"Crossref","is-referenced-by-count":84,"title":["KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM"],"prefix":"10.1142","volume":"08","author":[{"given":"GUOWU","family":"WEI","sequence":"first","affiliation":[{"name":"Centre for Advanced Mechanisms and Robotics, MOE Key Laboratory for Mechanisms Theory and Equipment Design, Tianjin University, China"},{"name":"Centre for Robotics Research, School of Natural and Mathematical Sciences, King's College London, University of London, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"JIAN S.","family":"DAI","sequence":"additional","affiliation":[{"name":"Centre for Advanced Mechanisms and Robotics, MOE Key Laboratory for Mechanisms Theory and Equipment Design, Tianjin University, China"},{"name":"Centre for Robotics Research, School of Natural and Mathematical Sciences, King's College London, University of London, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"SHUXIN","family":"WANG","sequence":"additional","affiliation":[{"name":"Centre for Advanced Mechanisms and Robotics, MOE Key Laboratory for Mechanisms Theory and Equipment Design, Tianjin University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"HAIFENG","family":"LUO","sequence":"additional","affiliation":[{"name":"Centre for Advanced Mechanisms and Robotics, MOE Key Laboratory for Mechanisms Theory and Equipment Design, Tianjin University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2012,4,6]]},"reference":[{"key":"rf1","volume-title":"Handbook of Industrial Robot","author":"Shimon Y.","year":"1985"},{"key":"rf2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"rf4","doi-asserted-by":"publisher","DOI":"10.1163\/156855301300235913"},{"key":"rf6","volume-title":"Multisensory Telerobotic Techniques","author":"Dietrich J.","year":"1999"},{"key":"rf9","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016862.38337.f1"},{"key":"rf12","first-page":"49","volume":"13","author":"Gao X.","journal-title":"Journal of Harbin Institute of Technology"},{"key":"rf17","first-page":"35","author":"Fischman J.","journal-title":"National Geographic"},{"key":"rf18","doi-asserted-by":"publisher","DOI":"10.1115\/1.1758255"},{"key":"rf20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2017138"},{"key":"rf21","first-page":"021001_1","volume":"3","author":"Cui L.","journal-title":"Transactions of the ASME: Journal of Mechanisms and Robotics"},{"key":"rf22","doi-asserted-by":"publisher","DOI":"10.1115\/1.2829470"},{"key":"rf23","first-page":"675","volume":"127","author":"Dai J. 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