{"id":"W4312193357","doi":"10.1016/j.robot.2022.104348","title":"Precision fingertip grasp: A human-inspired grasp planning and inverse kinematics approach for integrated arm–hand systems","year":2022,"lang":"en","type":"article","venue":"Robotics and Autonomous Systems","topic":"Robot Manipulation and Learning","field":"Engineering","cited_by":8,"is_retracted":false,"has_abstract":false,"ca_institutions":"Western University","funders":"","keywords":"GRASP; Computer science; Reachability; Kinematics; Robotic arm; Robot; Workspace; Motion planning; A priori and a posteriori; Artificial intelligence; Algorithm","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":"codex-gemma-dda1882f352a","candidate_categories":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.0004924202,0.0002766061,0.0004730189,0.0002203739,0.0007177445,0.000390322,0.000129985,0.0001054176,0.000005309527],"category_scores_gemma":[0.00003229425,0.0002735006,0.00005575389,0.0001951089,0.00003756705,0.0001029048,0.00008166526,0.0002920297,0.000001148381],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001302663,"about_ca_system_score_gemma":0.00002273688,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00009856736,"about_ca_topic_score_gemma":0.00000383572,"domain_scores_codex":[0.9984656,0.00010145,0.0005739504,0.0003204394,0.0002102456,0.0003283223],"domain_scores_gemma":[0.9993315,0.0001145875,0.0001616105,0.0002113849,0.00005466475,0.0001261987],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.000008771641,0.00003200441,0.0006930277,0.0007821869,0.0000622994,0.000004841257,0.001322422,0.9931041,0.001013163,0.002251118,0.0006029312,0.0001231568],"study_design_scores_gemma":[0.000675293,0.0001263928,0.0002111626,0.0001422511,0.00005112651,0.00005972929,0.002483033,0.9931392,0.00001345675,0.00003039692,0.002741234,0.0003266995],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1087126,0.005042631,0.8809636,0.00003517569,0.001486992,0.002105015,0.00002802069,0.0005895194,0.00103652],"genre_scores_gemma":[0.995935,0.00001181864,0.002786539,0.00001226784,0.0001191422,0.0002117819,0.000186608,0.00007535792,0.0006615133],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8872224,"threshold_uncertainty_score":0.9999717,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03712087120901912,"score_gpt":0.244399497514423,"score_spread":0.2072786263054039,"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."}}