{"id":"W2117197536","doi":"10.1109/tra.2004.824641","title":"Kinetostatic Analysis of Underactuated Fingers","year":2004,"lang":"en","type":"article","venue":"IEEE Transactions on Robotics and Automation","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":255,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"","keywords":"Underactuation; Wrench; Torque; Actuator; Computer science; Control theory (sociology); Phalanx; Engineering; Artificial intelligence; Physics; Mechanical engineering; Control (management); Anatomy; Biology","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001552569,0.0002892905,0.0004548366,0.0004715853,0.0002571253,0.0006786708,0.0003981768,0.0004049049,0.001536262],"category_scores_gemma":[0.0005449389,0.0001390907,0.0002694244,0.0001753072,0.0009854537,0.0006097897,0.0007055259,0.0004073791,0.0002142341],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003085742,"about_ca_system_score_gemma":0.0002725254,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0008572898,"about_ca_topic_score_gemma":0.0004027879,"domain_scores_codex":[0.9998555,0.00002415735,0.000007824306,0.00002064767,0.00006812876,0.00002362159],"domain_scores_gemma":[0.9998666,0.00003627653,0.00003647145,0.00001917156,0.00002284825,0.0000185608],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000099918,0.00004373482,0.001108556,0.0001518814,0.00006159751,0.000923487,0.0002747959,0.3809872,0.0644493,0.5354565,0.00103793,0.01540515],"study_design_scores_gemma":[0.00001897352,0.00006047995,0.001328409,0.00001283529,0.000007946654,0.0002020109,0.00007836396,0.9054518,0.002349489,0.08811714,0.002347935,0.00002461825],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.3508366,0.001039116,0.6028411,0.0005032395,0.0001702772,0.00006612211,0.000150304,0.0001514863,0.04424186],"genre_scores_gemma":[0.9884775,0.0004487884,0.005772307,0.00004377198,0.00003964722,0.00003412673,0.00003386423,0.00002123594,0.005128742],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001536262,"threshold_uncertainty_score":0.005139291,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01489620232527027,"score_gpt":0.2300142666067208,"score_spread":0.2151180642814506,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}