{"id":"https://openalex.org/W2790060680","doi":"https://doi.org/10.1108/ir-06-2017-0124","title":"Stretched backboneless continuum manipulator driven by cannula tendons","display_name":"Stretched backboneless continuum manipulator driven by cannula tendons","publication_year":2018,"publication_date":"2018-02-19","ids":{"openalex":"https://openalex.org/W2790060680","doi":"https://doi.org/10.1108/ir-06-2017-0124","mag":"2790060680"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2017-0124","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2017-0124","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101707191","display_name":"Guohua Gao","orcid":"https://orcid.org/0000-0002-7987-3706"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"GuoHua Gao","raw_affiliation_strings":["Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103241423","display_name":"Han Ren","orcid":"https://orcid.org/0000-0002-2891-7270"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ren","raw_affiliation_strings":["Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068869519","display_name":"Qixiao Xia","orcid":"https://orcid.org/0000-0003-0915-0104"},"institutions":[{"id":"https://openalex.org/I114234892","display_name":"Beijing Union University","ror":"https://ror.org/01hg31662","country_code":"CN","type":"education","lineage":["https://openalex.org/I114234892"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"QiXiao Xia","raw_affiliation_strings":["Beijing Union University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Union University, Beijing, China","institution_ids":["https://openalex.org/I114234892"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653162","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0003-1144-7804"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069087689","display_name":"LianShi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"LianShi Li","raw_affiliation_strings":["Beijing University of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2164,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.49498205,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"45","issue":"2","first_page":"237","last_page":"243"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9868000149726868,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9771000146865845,"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/kinematics","display_name":"Kinematics","score":0.6437158584594727},{"id":"https://openalex.org/keywords/fixture","display_name":"Fixture","score":0.59886234998703},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5560610294342041},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4846818745136261},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44439616799354553},{"id":"https://openalex.org/keywords/cannula","display_name":"Cannula","score":0.4300564229488373},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4136277139186859},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3829830288887024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36558055877685547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.149627685546875},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14711102843284607},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09687307476997375}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6437158584594727},{"id":"https://openalex.org/C2781122048","wikidata":"https://www.wikidata.org/wiki/Q15983064","display_name":"Fixture","level":2,"score":0.59886234998703},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5560610294342041},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4846818745136261},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44439616799354553},{"id":"https://openalex.org/C2778074680","wikidata":"https://www.wikidata.org/wiki/Q2125439","display_name":"Cannula","level":2,"score":0.4300564229488373},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4136277139186859},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3829830288887024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36558055877685547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.149627685546875},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14711102843284607},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09687307476997375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-06-2017-0124","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2017-0124","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1523779020","https://openalex.org/W1675003565","https://openalex.org/W1897427393","https://openalex.org/W1989552041","https://openalex.org/W1991723882","https://openalex.org/W2000573734","https://openalex.org/W2013869769","https://openalex.org/W2014502771","https://openalex.org/W2036723211","https://openalex.org/W2038638896","https://openalex.org/W2063797945","https://openalex.org/W2075793199","https://openalex.org/W2096645690","https://openalex.org/W2108770432","https://openalex.org/W2121744551","https://openalex.org/W2124540383","https://openalex.org/W2139667160","https://openalex.org/W2145865271","https://openalex.org/W2150846331","https://openalex.org/W2151526605","https://openalex.org/W2152205882","https://openalex.org/W2156041305","https://openalex.org/W2162769743","https://openalex.org/W2206514346","https://openalex.org/W2214717143","https://openalex.org/W2289745246","https://openalex.org/W3151112931"],"related_works":["https://openalex.org/W2076018311","https://openalex.org/W4385900761","https://openalex.org/W2380777809","https://openalex.org/W4210432190","https://openalex.org/W4385561830","https://openalex.org/W390748187","https://openalex.org/W3132708226","https://openalex.org/W2353571477","https://openalex.org/W2005706483","https://openalex.org/W192519934"],"abstract_inverted_index":{"Purpose":[0],"The":[1,135,146,177,196,205,237,289],"purpose":[2],"of":[3,24,28,36,40,43,50,66,83,140,153,183,239,266,284,309],"this":[4,57,221,240],"paper":[5,121],"is":[6,54,91,169,215,227,231,242,274,292],"to":[7,16,32,80,114,223,243,294],"present":[8],"a":[9,73,123,228,245,270,278],"stretched":[10,125,246],"backboneless":[11,126,207,247],"continuum":[12,110,127,208,248],"manipulator,":[13,165,249],"which":[14,250,269],"aims":[15],"provide":[17,252],"sufficient":[18],"inner":[19,253],"room":[20,254],"for":[21,38,233,259,268],"potential":[22,260,297],"transportation":[23],"objects":[25,303],"or":[26],"fixture":[27],"necessary":[29],"devices,":[30],"and":[31,86,103,117,130,143,149,186,214,230,262,282,300,313],"reduce":[33],"the":[34,41,44,51,61,64,67,81,89,100,108,150,154,164,173,199,264,280,285],"number":[35,265],"motors":[37],"reduction":[39],"weight":[42,281],"system.":[45],"Design/methodology/approach":[46],"A":[47],"mathematical":[48,101],"model":[49,102],"presented":[52,62,109,155,174,178,200,206,290],"manipulator":[53,111,128,156,179,209,286,291],"established":[55],"in":[56,77,190,296,304,307],"paper.":[58],"To":[59],"verify":[60],"theory,":[63],"position":[65],"free":[68],"end":[69],"was":[70],"recorded":[71],"by":[72,132,159,217],"high-resolution":[74],"digital":[75],"camera":[76],"experiment.":[78],"According":[79],"comparison":[82],"experimental":[84],"values":[85],"theoretical":[87,104],"values,":[88],"error":[90],"less":[92],"than":[93],"2.5":[94],"per":[95],"cent.":[96],"It":[97],"shows":[98],"that":[99],"analysis":[105],"are":[106,138,157,287],"reasonable;":[107],"can":[112,251],"reach":[113],"desired":[115],"postures":[116,306],"positions.":[118],"Findings":[119],"This":[120],"presents":[122],"new":[124],"supported":[129,216],"driven":[131,158],"cannula":[133,136,218],"tendons.":[134,219],"tendons":[137],"composed":[139],"rubber":[141],"tubes":[142],"glass":[144],"fibers.":[145],"upper":[147],"section":[148,152],"lower":[151],"same":[160],"motors.":[161],"For":[162],"steering":[163],"switched":[166,271],"driving":[167,201,272],"strategy":[168,273],"developed":[170],"based":[171],"on":[172],"kinematics":[175],"model.":[176],"possesses":[180],"six":[181,315],"degrees":[182],"freedom":[184],"(DOFs)":[185],"has":[187,210],"good":[188],"performance":[189],"dealing":[191],"with":[192],"complex":[193,298],"working":[194],"environment.":[195],"experiment":[197],"verifies":[198],"strategy.":[202],"Research":[203],"limitations/implications":[204],"only":[211],"two":[212],"sections":[213,226],"Extending":[220],"structure":[222],"further":[224],"more":[225],"challenge":[229],"left":[232],"future":[234],"research.":[235],"Originality/value":[236],"value":[238],"study":[241],"propose":[244],"as":[255,257],"large":[256],"possible":[258],"usage":[261],"halve":[263],"motors,":[267],"put":[275],"forward.":[276],"As":[277],"result,":[279],"complexity":[283],"decreased.":[288],"able":[293],"move":[295],"environments":[299],"approach":[301],"its":[302,310,314],"different":[305],"virtue":[308],"high":[311],"flexibility":[312],"DOFs.":[316]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
