{"id":"https://openalex.org/W4280539617","doi":"https://doi.org/10.1108/ir-12-2021-0286","title":"A flexible gripper with a wide-range variable stiffness structure based on shape memory alloy","display_name":"A flexible gripper with a wide-range variable stiffness structure based on shape memory alloy","publication_year":2022,"publication_date":"2022-05-11","ids":{"openalex":"https://openalex.org/W4280539617","doi":"https://doi.org/10.1108/ir-12-2021-0286"},"language":"en","primary_location":{"id":"doi:10.1108/ir-12-2021-0286","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2021-0286","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: the international journal of robotics research and application","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/A5108555264","display_name":"Canjun Yang","orcid":null},"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":"Canjun Yang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China and Ningbo Research Institute, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China and Ningbo Research Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008966387","display_name":"Weitao Wu","orcid":"https://orcid.org/0000-0001-7536-2389"},"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":"Weitao Wu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027384607","display_name":"Xin Wu","orcid":"https://orcid.org/0000-0002-8293-5517"},"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":"Xin Wu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036677935","display_name":"Jifei Zhou","orcid":null},"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":"Jifei Zhou","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086293743","display_name":"Zhangpeng Tu","orcid":"https://orcid.org/0000-0001-6095-7363"},"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":"Zhangpeng Tu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103242781","display_name":"Mingwei Lin","orcid":"https://orcid.org/0000-0002-8583-5896"},"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":"Mingwei Lin","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021142269","display_name":"Sheng Zhang","orcid":"https://orcid.org/0000-0001-5599-6261"},"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":"Sheng Zhang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China and Ningbo Research Institute, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China and Ningbo Research Institute, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5108555264"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.9776,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.71084537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"49","issue":"6","first_page":"1190","last_page":"1201"},"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":0.9901000261306763,"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":0.9894000291824341,"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/stiffness","display_name":"Stiffness","score":0.8968703746795654},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6222131848335266},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5595855116844177},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5092495679855347},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48670247197151184},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48314422369003296},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.40270495414733887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37115979194641113},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34777289628982544},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.28436577320098877},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26999539136886597},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2552662491798401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17221739888191223},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1482035219669342},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.08633631467819214}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8968703746795654},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6222131848335266},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5595855116844177},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5092495679855347},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48670247197151184},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48314422369003296},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.40270495414733887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37115979194641113},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34777289628982544},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.28436577320098877},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26999539136886597},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2552662491798401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17221739888191223},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1482035219669342},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.08633631467819214},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-12-2021-0286","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2021-0286","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: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2028927301","https://openalex.org/W2077278235","https://openalex.org/W2476034757","https://openalex.org/W2518073382","https://openalex.org/W2556078315","https://openalex.org/W2560001473","https://openalex.org/W2593610497","https://openalex.org/W2608405054","https://openalex.org/W2746752553","https://openalex.org/W2761143270","https://openalex.org/W2761645513","https://openalex.org/W2784648116","https://openalex.org/W2795616496","https://openalex.org/W2799317175","https://openalex.org/W2892258365","https://openalex.org/W2893780659","https://openalex.org/W2938159670","https://openalex.org/W2943139940","https://openalex.org/W2970214639","https://openalex.org/W2989597069","https://openalex.org/W2999697312","https://openalex.org/W3008239204","https://openalex.org/W3016350372","https://openalex.org/W3016930886","https://openalex.org/W3017043291","https://openalex.org/W3089386015","https://openalex.org/W3094904128","https://openalex.org/W3132459309"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2808090143","https://openalex.org/W2078285315","https://openalex.org/W2527333706","https://openalex.org/W4312233243","https://openalex.org/W2384495009","https://openalex.org/W4384557449"],"abstract_inverted_index":{"Purpose":[0],"Variable":[1],"stiffness":[2,24,29,35,59,80,95,111,115,122,143,161,176,185,192,212],"structure":[3,123,177,186,201],"can":[4,202],"significantly":[5],"improve":[6,216],"the":[7,47,75,78,89,93,105,109,119,131,149,159,167],"interactive":[8],"capabilities":[9,49],"of":[10,41,50,64,77,108,118,130,145,148,158,191],"grippers.":[11],"Shape":[12],"memory":[13,66],"alloys":[14],"have":[15],"become":[16],"a":[17,56,188],"popular":[18],"option":[19],"for":[20],"materials":[21],"with":[22],"variable":[23,28,58,79,94,110,116,121,142,160,175,184,213],"structures.":[25],"However,":[26],"its":[27,34],"range":[30,144,190],"is":[31,44,101,124,164,178],"limited":[32],"by":[33,54,126,137,166],"in":[36],"two":[37],"phases.":[38],"The":[39,97,114,128,141,155,182,198],"purpose":[40],"this":[42],"paper":[43],"to":[45,73,87,103,205,208],"enhance":[46,104],"manipulation":[48],"tendon-driven":[51,90],"flexible":[52,150,162,200],"grippers":[53,207],"designing":[55],"wide-range":[57,174],"structure.":[60,81,96,112],"Design/methodology/approach":[61],"Constitutive":[62],"models":[63,70],"shape":[65],"alloy":[67],"and":[68,92,180,194,215],"mechanical":[69],"are":[71],"used":[72,86,102],"analyze":[74],"performance":[76],"A":[82,172],"separated":[83],"solution":[84],"was":[85,135,152],"combine":[88],"gripper":[91,151,163],"feed-forward":[98],"control":[99,106,133,196],"algorithm":[100,134],"stability":[107,129],"Findings":[113],"capability":[117,157,214],"proposed":[120,179],"verified":[125,136,165],"experiments.":[127,140,170],"feedback":[132],"sinusoidal":[138],"tracking":[139],"8.41":[146],"times":[147],"tested":[153],"experimentally.":[154],"interaction":[156,218],"object":[168],"grasping":[169],"Originality/value":[171],"new":[173,183,199],"validated.":[181],"has":[187],"larger":[189],"variation":[193],"better":[195],"stability.":[197],"be":[203],"applied":[204],"conventional":[206],"help":[209],"them":[210],"gain":[211],"their":[217],"ability.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}