{"id":"https://openalex.org/W7164806028","doi":"https://doi.org/10.3390/act15060339","title":"A Reconfigurable Design Approach for Hybrid Tendon\u2013Pneumatic Continuum Robots Enabled by Soft Multi-Lumen Backbones","display_name":"A Reconfigurable Design Approach for Hybrid Tendon\u2013Pneumatic Continuum Robots Enabled by Soft Multi-Lumen Backbones","publication_year":2026,"publication_date":"2026-06-13","ids":{"openalex":"https://openalex.org/W7164806028","doi":"https://doi.org/10.3390/act15060339"},"language":"en","primary_location":{"id":"doi:10.3390/act15060339","doi":"https://doi.org/10.3390/act15060339","is_oa":true,"landing_page_url":"https://doi.org/10.3390/act15060339","pdf_url":null,"source":{"id":"https://openalex.org/S2736557103","display_name":"Actuators","issn_l":"2076-0825","issn":["2076-0825"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Actuators","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/act15060339","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119349182","display_name":"Burak Ozdemir","orcid":"https://orcid.org/0009-0002-7281-8525","observed_orcids":["https://orcid.org/0009-0002-7281-8525"]},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Burak Ozdemir","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK"],"raw_orcid":"https://orcid.org/0009-0002-7281-8525","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138666411","display_name":"Amman Chougle","orcid":"https://orcid.org/0009-0009-3016-9097","observed_orcids":["https://orcid.org/0009-0009-3016-9097"]},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amman Chougle","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK"],"raw_orcid":"https://orcid.org/0009-0009-3016-9097","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438","observed_orcids":["https://orcid.org/0000-0002-2280-5438"]},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK"],"raw_orcid":"https://orcid.org/0000-0002-2280-5438","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018926020","display_name":"James Henry Chandler","orcid":"https://orcid.org/0000-0001-9232-4966","observed_orcids":["https://orcid.org/0000-0001-9232-4966"]},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"James H. Chandler","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK"],"raw_orcid":"https://orcid.org/0000-0001-9232-4966","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5018926020"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2896},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2896},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32340018,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"6","first_page":"339","last_page":"339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11366","display_name":"Elasticity and Material Modeling","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuum-robots","display_name":"continuum robots","score":0.9070000052452087},{"id":"https://openalex.org/keywords/pneumatic-actuation","display_name":"pneumatic actuation","score":0.6150000095367432},{"id":"https://openalex.org/keywords/hysteresis","display_name":"hysteresis","score":0.7870000004768372},{"id":"https://openalex.org/keywords/contact-force","display_name":"contact force","score":0.7059999704360962},{"id":"https://openalex.org/keywords/kinematic-model","display_name":"kinematic modeling","score":0.7839999794960022},{"id":"https://openalex.org/keywords/constant-curvature-model","display_name":"constant curvature model","score":0.8859999775886536},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"soft robotics","score":0.4230000078678131}],"concepts":[{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.8603000044822693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6341000199317932},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5723000168800354},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5385000109672546},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4675000011920929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4595000147819519},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.45419999957084656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41339999437332153},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.40139999985694885},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.3926999866962433},{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.38510000705718994},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3691999912261963},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.36230000853538513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3596999943256378},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.3465999960899353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3391000032424927},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3310000002384186},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3287999927997589},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C2776585123","wikidata":"https://www.wikidata.org/wiki/Q424666","display_name":"Slider","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.26600000262260437},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.25049999356269836}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/act15060339","doi":"https://doi.org/10.3390/act15060339","is_oa":true,"landing_page_url":"https://doi.org/10.3390/act15060339","pdf_url":null,"source":{"id":"https://openalex.org/S2736557103","display_name":"Actuators","issn_l":"2076-0825","issn":["2076-0825"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Actuators","raw_type":"journal-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:242083","doi":null,"is_oa":false,"landing_page_url":"https://orcid.org/0009-0002-7281-8525>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:b7e9c857f1524a8db60dd2a6f60dd1ad","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/b7e9c857f1524a8db60dd2a6f60dd1ad","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Actuators, Vol 15, Iss 6, p 339 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/act15060339","doi":"https://doi.org/10.3390/act15060339","is_oa":true,"landing_page_url":"https://doi.org/10.3390/act15060339","pdf_url":null,"source":{"id":"https://openalex.org/S2736557103","display_name":"Actuators","issn_l":"2076-0825","issn":["2076-0825"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Actuators","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1870506184","display_name":"Terabotics - terahertz robotics for surgery and medicine","funder_award_id":"EP/V047914/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2598648690","display_name":"RoboMRI: Future Cardiovascular Healthcare via MRI-driven Robotics","funder_award_id":"EP/Y037235/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5198520588","display_name":"New minimally invasive technologies for the treatment of pancreatic cancer","funder_award_id":"EP/V009818/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5742563868","display_name":null,"funder_award_id":"LTRF-2425-21-154","funder_id":"https://openalex.org/F4320319993","funder_display_name":"Leverhulme Trust"},{"id":"https://openalex.org/G6697820746","display_name":null,"funder_award_id":"NIHR203331","funder_id":"https://openalex.org/F4320319990","funder_display_name":"National Institute for Health and Care Research"}],"funders":[{"id":"https://openalex.org/F4320319990","display_name":"National Institute for Health and Care Research","ror":"https://ror.org/0187kwz08"},{"id":"https://openalex.org/F4320319993","display_name":"Leverhulme Trust","ror":"https://ror.org/012mzw131"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2066399169","https://openalex.org/W2094832095","https://openalex.org/W2101667962","https://openalex.org/W2184993170","https://openalex.org/W2293554515","https://openalex.org/W2553364565","https://openalex.org/W3024167562","https://openalex.org/W3080406417","https://openalex.org/W3089860074","https://openalex.org/W3115599775","https://openalex.org/W4200459982","https://openalex.org/W4313598773","https://openalex.org/W4323854061","https://openalex.org/W4327590807","https://openalex.org/W4360619340","https://openalex.org/W4379260561","https://openalex.org/W4379622502","https://openalex.org/W4391098341","https://openalex.org/W4400187802","https://openalex.org/W4409357938","https://openalex.org/W4410379994","https://openalex.org/W4410939863","https://openalex.org/W4411019111","https://openalex.org/W4411019115","https://openalex.org/W4411640021","https://openalex.org/W4413344827","https://openalex.org/W4413945821","https://openalex.org/W4415002959","https://openalex.org/W7134164189","https://openalex.org/W7162139999","https://openalex.org/W7163183494"],"related_works":["https://openalex.org/W7127293118","https://openalex.org/W7162139999","https://openalex.org/W7134164189","https://openalex.org/W4200459982","https://openalex.org/W4379212398","https://openalex.org/W2559753095","https://openalex.org/W2639522800","https://openalex.org/W4389665922","https://openalex.org/W4220849409","https://openalex.org/W4410399022"],"abstract_inverted_index":{"Continuum":[0],"robots":[1],"offer":[2],"inherent":[3],"compliance":[4],"and":[5,11,23,52,80,105,117,135,143,154,159,185,218,223,235,244],"dexterity":[6],"for":[7,63,221,253],"operation":[8],"in":[9],"confined":[10],"unstructured":[12],"environments;":[13],"however,":[14],"achieving":[15],"hybrid":[16,36,103,246],"multi-segment":[17],"functionality":[18],"typically":[19],"requires":[20],"application-specific":[21],"redesign":[22],"tightly":[24],"coupled":[25,132],"architectures.":[26],"To":[27],"address":[28],"this":[29,31],"limitation,":[30],"study":[32],"proposes":[33],"a":[34,42,67,101,107,175,193,203,250],"reconfigurable":[35,245],"continuum":[37,247],"robot":[38,53],"architecture":[39,94,240],"based":[40,201],"around":[41],"multi-lumen":[43],"central":[44],"integration":[45,151],"backbone":[46],"that":[47,149],"supports":[48],"multiple":[49],"actuation":[50,65,120,156],"modalities":[51],"configurations.":[54],"The":[55,90],"proposed":[56,239],"design":[57],"combines":[58],"external":[59],"tendon-driven":[60,153,173],"disk":[61,115],"modules":[62],"proximal":[64],"with":[66],"pneumatically":[68],"actuated":[69],"distal":[70],"tip,":[71],"while":[72],"internal":[73],"lumens":[74],"allow":[75],"routing":[76],"of":[77,83,92,152,171,181,215],"pneumatic":[78,155,177],"lines":[79],"the":[81,93,114,122,150,161,172,238],"insertion":[82],"optional":[84],"stiffening":[85],"elements":[86],"without":[87],"structural":[88],"interference.":[89],"reconfigurability":[91],"is":[95,206],"demonstrated":[96],"through":[97],"two":[98],"configurations:":[99],"Concept-1,":[100],"two-segment":[102],"system,":[104],"Concept-2,":[106,224],"miniaturized":[108],"three-segment":[109],"configuration":[110],"achieved":[111],"by":[112],"reducing":[113],"diameter":[116],"extending":[118],"tendon":[119],"to":[121,128,188,259],"backbone.":[123],"Experimental":[124],"evaluations":[125],"are":[126],"conducted":[127],"characterize":[129],"segment-wise":[130],"actuation,":[131],"deformation":[133],"behavior,":[134],"workspace":[136],"capabilities,":[137],"hysteresis":[138],"response,":[139],"tip":[140,178],"contact":[141,179],"force,":[142],"phantom-based":[144],"target":[145],"reachability.":[146],"Results":[147],"show":[148],"significantly":[157],"expands":[158],"reorients":[160],"reachable":[162],"workspace.":[163],"Additional":[164],"functional":[165],"tests":[166],"showed":[167],"repeatable":[168],"loading\u2013unloading":[169],"behaviour":[170],"segment,":[174],"maximum":[176],"force":[180],"approximately":[182],"0.45":[183],"N,":[184],"successful":[186],"access":[187],"five":[189],"representative":[190],"targets":[191],"within":[192],"stomach-like":[194],"phantom":[195],"using":[196],"Concept-2.":[197],"A":[198],"kinematic":[199],"model":[200,230],"on":[202],"constant-curvature":[204],"formulation":[205],"validated":[207],"against":[208],"experimental":[209],"data,":[210],"yielding":[211],"root-mean-square":[212],"errors":[213],"(RMSE)":[214],"5.44":[216],"mm":[217,220],"6.12":[219],"Concept-1":[222],"respectively.":[225],"These":[226],"results":[227],"demonstrate":[228],"consistent":[229],"accuracy":[231],"across":[232],"different":[233],"configurations":[234],"scales.":[236],"Overall,":[237],"enables":[241],"modular,":[242],"scalable,":[243],"robots,":[248],"providing":[249],"flexible":[251],"framework":[252],"applications":[254],"ranging":[255],"from":[256],"large-scale":[257],"manipulation":[258],"gastroscopy-inspired":[260],"minimally":[261],"invasive":[262],"procedures.":[263]},"counts_by_year":[],"updated_date":"2026-09-22T06:50:58.402377","created_date":"2026-06-16T00:00:00"}