{"id":"https://openalex.org/W4403305545","doi":"https://doi.org/10.1017/s0263574724001656","title":"A novel morphing soft robot design to minimize deviations","display_name":"A novel morphing soft robot design to minimize deviations","publication_year":2024,"publication_date":"2024-10-10","ids":{"openalex":"https://openalex.org/W4403305545","doi":"https://doi.org/10.1017/s0263574724001656"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001656","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001656","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/957DEBDCF2E67045107FA8306F677B68/S0263574724001656a.pdf/div-class-title-a-novel-morphing-soft-robot-design-to-minimize-deviations-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/957DEBDCF2E67045107FA8306F677B68/S0263574724001656a.pdf/div-class-title-a-novel-morphing-soft-robot-design-to-minimize-deviations-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056560005","display_name":"Varell Ferrandy","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Varell Ferrandy","raw_affiliation_strings":["The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028755469","display_name":"Arnau Garriga-Casanovas","orcid":"https://orcid.org/0000-0003-4569-5566"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Arnau Garriga-Casanovas","raw_affiliation_strings":["The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107048790","display_name":"Enrico Franco","orcid":"https://orcid.org/0000-0001-9991-7377"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Enrico Franco","raw_affiliation_strings":["The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047565530","display_name":"Indrawanto Indrawanto","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Indrawanto","raw_affiliation_strings":["Engineering Design and Production Research Group, Faculty of Mechanical and Aerospace Engineering - Institut Teknologi Bandung, Bandung, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Design and Production Research Group, Faculty of Mechanical and Aerospace Engineering - Institut Teknologi Bandung, Bandung, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hamlyn Centre, Mechanical Engineering, Imperial College London, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011094505","display_name":"Andi Isra Mahyuddin","orcid":"https://orcid.org/0000-0003-1424-5079"},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Andi Isra Mahyuddin","raw_affiliation_strings":["Dynamics and Control Research Group, Faculty of Mechanical and Aerospace Engineering - Institut Teknologi Bandung, Bandung, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamics and Control Research Group, Faculty of Mechanical and Aerospace Engineering - Institut Teknologi Bandung, Bandung, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044473650","display_name":"Vani Virdyawan","orcid":"https://orcid.org/0000-0002-6191-7627"},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":true,"raw_author_name":"Vani Virdyawan","raw_affiliation_strings":["Engineering Design and Production Research Group, Faculty of Mechanical and Aerospace Engineering - Institut Teknologi Bandung, Bandung, Indonesia"],"raw_orcid":"https://orcid.org/0000-0002-6191-7627","affiliations":[{"raw_affiliation_string":"Engineering Design and Production Research Group, Faculty of Mechanical and Aerospace Engineering - Institut Teknologi Bandung, Bandung, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5044473650"],"corresponding_institution_ids":["https://openalex.org/I134635517"],"apc_list":null,"apc_paid":null,"fwci":0.336,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.55447162,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"42","issue":"11","first_page":"3803","last_page":"3818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.9820816516876221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5865762829780579},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5806550979614258},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5504053831100464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3618297278881073}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9820816516876221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5865762829780579},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5806550979614258},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5504053831100464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3618297278881073}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574724001656","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001656","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/957DEBDCF2E67045107FA8306F677B68/S0263574724001656a.pdf/div-class-title-a-novel-morphing-soft-robot-design-to-minimize-deviations-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/115537","is_oa":true,"landing_page_url":"http://hdl.handle.net/10044/1/115537","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1017/s0263574724001656","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001656","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/957DEBDCF2E67045107FA8306F677B68/S0263574724001656a.pdf/div-class-title-a-novel-morphing-soft-robot-design-to-minimize-deviations-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4403305545.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1600421056","https://openalex.org/W1985060396","https://openalex.org/W2015106839","https://openalex.org/W2090540397","https://openalex.org/W2127966735","https://openalex.org/W2782435507","https://openalex.org/W2889375025","https://openalex.org/W2901112449","https://openalex.org/W2909043882","https://openalex.org/W2926374707","https://openalex.org/W2951184982","https://openalex.org/W2965142505","https://openalex.org/W3012402823","https://openalex.org/W3012525641","https://openalex.org/W3043113022","https://openalex.org/W3120389665","https://openalex.org/W3133349997","https://openalex.org/W3133756800","https://openalex.org/W3165769240","https://openalex.org/W3197391101","https://openalex.org/W4205204878","https://openalex.org/W4206547093","https://openalex.org/W4313119588","https://openalex.org/W4323645863","https://openalex.org/W4365392759","https://openalex.org/W4386138701","https://openalex.org/W4387369651","https://openalex.org/W4390585894","https://openalex.org/W4391187601"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4385170164","https://openalex.org/W4236870338","https://openalex.org/W2604861150","https://openalex.org/W2983479991","https://openalex.org/W4298121576","https://openalex.org/W3170826113"],"abstract_inverted_index":{"Abstract":[0],"Soft":[1],"robotics":[2],"is":[3],"rapidly":[4],"advancing,":[5],"particularly":[6],"in":[7,50,108,145],"medical":[8],"device":[9],"applications.":[10],"A":[11],"particular":[12],"miniaturized":[13],"manipulator":[14],"design":[15,76,91,100],"that":[16],"offers":[17],"high":[18],"dexterity,":[19],"multiple":[20],"degrees-of-freedom,":[21],"and":[22,47,74,96,112],"better":[23,105],"lateral":[24],"force":[25],"rendering":[26],"than":[27],"competing":[28],"designs,":[29],"has":[30],"great":[31],"potential":[32],"for":[33],"minimally":[34],"invasive":[35],"surgery.":[36],"However,":[37],"it":[38],"faces":[39],"challenges":[40],"such":[41],"as":[42,67],"the":[43,62,68,71,85,89,98,116,132,135,148],"tendency":[44],"to":[45,83,102,129],"suddenly":[46],"unpredictably":[48],"deviate":[49],"bending":[51,106,117,149],"plane":[52,150],"orientation":[53,146],"at":[54],"higher":[55],"pressures.":[56],"In":[57,93],"this":[58,65],"work,":[59],"we":[60],"identified":[61],"cause":[63],"of":[64,70,110,115,134,147],"deviation":[66,114],"buckling":[69],"partition":[72],"wall":[73],"proposed":[75],"alternatives":[77],"along":[78],"with":[79],"their":[80],"manufacturing":[81],"process":[82],"address":[84],"problem":[86],"without":[87],"compromising":[88],"original":[90],"features.":[92],"both":[94],"simulation":[95],"experiment,":[97],"novel":[99],"managed":[101],"achieve":[103],"a":[104],"performance":[107,133],"terms":[109],"stiffness":[111],"reduced":[113],"plane.":[118],"We":[119],"also":[120],"developed":[121],"an":[122],"artificial":[123],"neural":[124],"network-based":[125],"inverse":[126],"kinematics":[127],"model":[128],"further":[130],"improve":[131],"prototype":[136],"during":[137],"vectorization.":[138],"This":[139],"approach":[140],"yielded":[141],"mean":[142],"absolute":[143],"errors":[144],"below":[151],"$5^{\\circ":[152],"}$":[153],".":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}