{"id":"https://openalex.org/W4398242091","doi":"https://doi.org/10.1002/aisy.202400068","title":"Design of Soft Microjoint to Improve Robotic Cell Micromanipulation Flexibility","display_name":"Design of Soft Microjoint to Improve Robotic Cell Micromanipulation Flexibility","publication_year":2024,"publication_date":"2024-05-23","ids":{"openalex":"https://openalex.org/W4398242091","doi":"https://doi.org/10.1002/aisy.202400068"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202400068","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400068","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400068","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400068","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042627944","display_name":"Youchao Zhang","orcid":"https://orcid.org/0000-0003-2246-9603"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youchao Zhang","raw_affiliation_strings":["Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076278100","display_name":"Fanghao Wang","orcid":"https://orcid.org/0009-0007-0164-5811"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanghao Wang","raw_affiliation_strings":["Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323037","display_name":"Guang Chen","orcid":"https://orcid.org/0000-0002-7416-592X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guang Chen","raw_affiliation_strings":["Department of Computer Science Tongji University  Shanghai 201804 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science Tongji University  Shanghai 201804 China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["School of Mechanical Engineering Tongji University  Shanghai 201804 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering Tongji University  Shanghai 201804 China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Department of Informatics Technical University of Munich  Munich 85748 Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics Technical University of Munich  Munich 85748 Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451640","display_name":"Yibin Ying","orcid":"https://orcid.org/0000-0002-3392-9380"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Ying","raw_affiliation_strings":["Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061386768","display_name":"Mingchuan Zhou","orcid":"https://orcid.org/0000-0002-6944-1483"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingchuan Zhou","raw_affiliation_strings":["Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China"],"raw_orcid":"https://orcid.org/0000-0002-6944-1483","affiliations":[{"raw_affiliation_string":"Department of Biosystems Engineering Zhejiang University  Hangzhou 310058 China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061386768"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":3190,"currency":"USD","value_usd":3190},"apc_paid":{"value":3190,"currency":"USD","value_usd":3190},"fwci":0.7173,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62992998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"6","issue":"9","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7008086442947388},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6196661591529846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45848625898361206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3232601284980774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2792043089866638},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21101361513137817},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11348330974578857}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7008086442947388},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6196661591529846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45848625898361206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3232601284980774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2792043089866638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21101361513137817},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11348330974578857},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/aisy.202400068","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400068","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400068","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:bed6c0dc4eba4397a775ab101ef9a550","is_oa":false,"landing_page_url":"https://doaj.org/article/bed6c0dc4eba4397a775ab101ef9a550","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,"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":"Advanced Intelligent Systems, Vol 6, Iss 9, Pp n/a-n/a (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202400068","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400068","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400068","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G230004542","display_name":null,"funder_award_id":"32101626","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4398242091.pdf","grobid_xml":"https://content.openalex.org/works/W4398242091.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1996365802","https://openalex.org/W2159837973","https://openalex.org/W2164017785","https://openalex.org/W2396275356","https://openalex.org/W2500765887","https://openalex.org/W2722424650","https://openalex.org/W2785110060","https://openalex.org/W2883972132","https://openalex.org/W2896990192","https://openalex.org/W2897854721","https://openalex.org/W2904061522","https://openalex.org/W2913285742","https://openalex.org/W2944145876","https://openalex.org/W2946583401","https://openalex.org/W2980227422","https://openalex.org/W2982528182","https://openalex.org/W2998963462","https://openalex.org/W3002511726","https://openalex.org/W4210416428","https://openalex.org/W4210856407","https://openalex.org/W4225538555","https://openalex.org/W4284879444","https://openalex.org/W4289987806","https://openalex.org/W4312421287","https://openalex.org/W4312851868","https://openalex.org/W4313639260","https://openalex.org/W4315471187","https://openalex.org/W4317038411","https://openalex.org/W4317547208","https://openalex.org/W4323363131","https://openalex.org/W4362653751","https://openalex.org/W4385267281","https://openalex.org/W4385338625","https://openalex.org/W4388485920","https://openalex.org/W4392601747"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Dexterity":[0],"micromanipulation":[1,35],"is":[2,37,44,49,72,90,111,127,164,192],"a":[3,12,68,83,131,138,160,171,183],"significant":[4],"topic":[5],"in":[6,67],"the":[7,34,40,47,61,65,75,78,86,99,119,125,168],"field":[8,22,71,88],"of":[9,64,82,102,118,135,141,179],"robotics.":[10],"Herein,":[11],"novel":[13],"robotic":[14],"rotating":[15],"microjoint":[16,48,66,84,126,169],"controlled":[17],"by":[18,166],"an":[19,188],"exogenous":[20],"magnetic":[21,25,41,70,87],"based":[23,97],"on":[24,98],"programmable":[26],"soft":[27,42,172],"materials,":[28],"which":[29],"brings":[30],"more":[31],"dexterity":[32],"to":[33,113,129,175],"task":[36],"proposed.":[38,92],"First,":[39],"material":[43],"synthesized":[45],"and":[46,55,74,85,104,137,156,187],"manufactured.":[50],"The":[51,121,144],"maximum":[52,132],"rotation":[53,133],"angle":[54,81,134,148],"response":[56,139],"time":[57,140],"are":[58],"characterized.":[59],"Then":[60],"force":[62],"analysis":[63],"uniform":[69],"performed":[73],"relationship":[76],"between":[77],"deformation":[79,100,116],"bending":[80],"magnitude":[89],"first":[91],"A":[93],"sliding":[94],"mode":[95],"controller":[96,146],"mechanism":[101,163],"microjoints":[103],"radial":[105],"basis":[106],"function":[107],"neural":[108],"network":[109],"(DMRSMC)":[110],"proposed":[112],"achieve":[114,130,176],"robust":[115],"control":[117,149],"microjoint.":[120],"experiment":[122],"that":[123],"depicts":[124],"able":[128],"22.16\u00b0":[136],"16":[142],"ms.":[143],"DMRSMC":[145],"performs":[147],"with":[150,170,182],"higher":[151],"accuracy":[152],"than":[153],"conventional":[154],"SMC":[155],"PID":[157],"controllers.":[158],"Finally,":[159],"dexterous":[161,177],"suction":[162],"developed":[165],"combining":[167],"micropipette":[173],"needle":[174],"grasping":[178],"zebrafish":[180],"embryos":[181],"97%":[184],"success":[185],"rate":[186],"orientation":[189],"adjustment":[190],"error":[191],"1.36\u00b0.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}