{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T10:40:15Z","timestamp":1740912015589,"version":"3.38.0"},"reference-count":20,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[1998,10,1]],"date-time":"1998-10-01T00:00:00Z","timestamp":907200000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,10]]},"abstract":"<jats:p> Building on previous work, where we identified kinematic chains suitable for application as dextrous robot hands, we now explore how to optimize the kinematic geometry of a multiloop, multifree dom mechanism so that simple equations of movement are achieved. Specifically, we wish to find the mechanism geometry that provides the simplest expressions for the movement of the fingertip. Being based in geometry, the approach described here is applicable to a wide range of mechanism-design problems. <\/jats:p>","DOI":"10.1177\/027836499801701003","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"1055-1067","source":"Crossref","is-referenced-by-count":12,"title":["On Optimizing the Kinematic Geometry of a Dextrous Robot Finger"],"prefix":"10.1177","volume":"17","author":[{"given":"Craig R.","family":"Tischler","sequence":"first","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering University of Melbourne Parkville, Victoria, Australia 3052"}]},{"given":"Kenneth H.","family":"Hunt","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering University of Melbourne Parkville, Victoria, Australia 3052"}]},{"given":"Andrew E.","family":"Samuel","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering University of Melbourne Parkville, Victoria, Australia 3052"}]}],"member":"179","published-online":{"date-parts":[[1998,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3439042"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(78)90060-5"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(80)90014-2"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1115\/1.3438636"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1115\/1.3438177"},{"volume-title":"A robotic hand mechanism. 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