{"id":"https://openalex.org/W4321021371","doi":"https://doi.org/10.1109/access.2023.3244402","title":"Investigating the Potential of Flexible Links for Increased Payload to Mass Ratios for Collaborative Robotics","display_name":"Investigating the Potential of Flexible Links for Increased Payload to Mass Ratios for Collaborative Robotics","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4321021371","doi":"https://doi.org/10.1109/access.2023.3244402"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3244402","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3244402","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10042431.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10042431.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012437779","display_name":"Greet Van de Perre","orcid":"https://orcid.org/0000-0001-6648-6056"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Greet Van de Perre","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","Imec, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Imec, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040993949","display_name":"Thierry Hubert","orcid":"https://orcid.org/0000-0002-6796-6542"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Thierry Hubert","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","Flanders Make, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Flanders Make, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080620663","display_name":"Tom Verstraten","orcid":"https://orcid.org/0000-0001-7398-5398"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tom Verstraten","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","Flanders Make, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Flanders Make, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","Imec, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Imec, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012437779"],"corresponding_institution_ids":["https://openalex.org/I13469542","https://openalex.org/I4210114974"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.0833,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.9141332,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"15981","last_page":"15995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998000264167786,"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":0.9961000084877014,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9908999800682068,"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/payload","display_name":"Payload (computing)","score":0.9127265810966492},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7929495573043823},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6560587882995605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6490769982337952},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5494213104248047},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5336172580718994},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47095638513565063},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4218013882637024},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37279149889945984},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3545151352882385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2046920657157898},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10221993923187256}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.9127265810966492},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7929495573043823},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6560587882995605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6490769982337952},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5494213104248047},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5336172580718994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47095638513565063},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4218013882637024},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37279149889945984},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3545151352882385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2046920657157898},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10221993923187256},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2023.3244402","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3244402","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10042431.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:164584","is_oa":true,"landing_page_url":"https://biblio.vub.ac.be/vubir/investigating-the-potential-of-flexible-links-for-increased-payload-to-mass-ratios-for-collaborative-robotics(ce274938-b002-4359-aef2-1d81c2bb2cad).html","pdf_url":"https://biblio.vub.ac.be/vubirfiles/105350440/82565043.pdf","source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:doaj.org/article:42b83c84d96f4d2cacc452ea185b138d","is_oa":true,"landing_page_url":"https://doaj.org/article/42b83c84d96f4d2cacc452ea185b138d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 15981-15995 (2023)","raw_type":"article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:228386","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3244402","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3244402","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10042431.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G3231420740","display_name":null,"funder_award_id":"postdoc","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G4388571484","display_name":null,"funder_award_id":"12Z7920N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G5249882664","display_name":null,"funder_award_id":"S001821N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G5712549052","display_name":null,"funder_award_id":"G0A9623N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G775587238","display_name":null,"funder_award_id":"S001821N","funder_id":"https://openalex.org/F4320327336","funder_display_name":"Vlaamse regering"},{"id":"https://openalex.org/G7978060012","display_name":null,"funder_award_id":"FWO-SB","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G8937320172","display_name":null,"funder_award_id":"1505820N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4321021371.pdf","grobid_xml":"https://content.openalex.org/works/W4321021371.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1965078187","https://openalex.org/W1997316724","https://openalex.org/W2022405978","https://openalex.org/W2024521783","https://openalex.org/W2028638280","https://openalex.org/W2039712388","https://openalex.org/W2068511460","https://openalex.org/W2068808212","https://openalex.org/W2071503135","https://openalex.org/W2099269638","https://openalex.org/W2100861624","https://openalex.org/W2106146601","https://openalex.org/W2115384033","https://openalex.org/W2338748690","https://openalex.org/W2594548803","https://openalex.org/W2790168702","https://openalex.org/W2797753322","https://openalex.org/W2894430441","https://openalex.org/W2898417639","https://openalex.org/W2938098315","https://openalex.org/W2944585148","https://openalex.org/W3161639183","https://openalex.org/W3194425958","https://openalex.org/W4206426608","https://openalex.org/W4237626675","https://openalex.org/W4246520131","https://openalex.org/W6676695562","https://openalex.org/W6689111474"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W20648474","https://openalex.org/W2109516765"],"abstract_inverted_index":{"One":[0],"of":[1,5,32,74,88,118,145,159,176,216,244],"the":[2,42,48,72,85,93,116,122,141,155,160,173,187,203],"main":[3],"restrictions":[4],"commercial":[6],"cobots":[7],"can":[8,77,163],"be":[9,78,164],"found":[10],"in":[11,30,47,59,140],"their":[12],"limited":[13],"payload":[14,94,129,192,240],"to":[15,22,69,91,95,102,137,152,191,237,241],"mass":[16,96,242],"ratios.":[17],"Flexible":[18],"link":[19,53,107,119,188,218,224],"manipulators":[20,54],"seem":[21],"offer":[23],"interesting":[24],"advantages":[25],"over":[26],"traditional":[27],"rigid":[28],"robotics,":[29,178],"terms":[31],"lower":[33,35],"self-weight,":[34],"energy":[36],"consumption":[37],"and":[38,44,115,126,143,189,230],"safer":[39],"operation.":[40],"However,":[41],"design":[43,103,162],"loading":[45,111],"specifications":[46],"general":[49],"literature":[50],"on":[51,121,183],"flexible":[52,75,89,106,161,223,234],"differ":[55],"from":[56],"those":[57],"expected":[58],"a":[60,104,147,179,208,221,232,239],"collaborative":[61,82,177],"industrial":[62],"setting.":[63],"In":[64],"this":[65],"paper,":[66],"we":[67,149],"want":[68],"investigate":[70],"whether":[71],"use":[73],"links":[76,90],"truly":[79],"beneficial":[80],"for":[81,108],"robotics.":[83],"Firstly,":[84],"theoretical":[86],"potential":[87],"increase":[92],"ratio":[97,243],"is":[98,113,130,194],"investigated.":[99],"The":[100,196],"feasibility":[101],"cylindrical":[105,134,233],"specific,":[109],"realistic":[110],"conditions":[112],"investigated,":[114],"effect":[117],"flexibility":[120],"demanded":[123],"motor":[124],"torque":[125],"maximum":[127],"reachable":[128],"visualised,":[131],"while":[132],"considering":[133,213],"links.":[135],"Subsequently,":[136],"get":[138],"insights":[139],"accuracy":[142,198],"usability":[144],"such":[146],"manipulator,":[148],"experimentally":[150],"quantify":[151],"what":[153],"extent":[154],"undesired":[156],"side":[157],"effects":[158],"counteracted":[165],"using":[166,207],"an":[167],"appropriate":[168],"controller.":[169],"To":[170],"comply":[171],"with":[172,226],"envisioned":[174],"application":[175],"control":[180],"strategy":[181],"based":[182],"strain":[184],"measurements":[185],"along":[186],"robust":[190],"changes":[193],"proposed.":[195],"obtained":[197],"was":[199],"measured":[200],"by":[201],"tracking":[202],"end":[204],"effector":[205],"position":[206],"Vicon":[209],"motion":[210],"capture":[211],"system,":[212],"two":[214],"types":[215],"single":[217],"designs;":[219],"firstly,":[220],"very":[222],"setup":[225],"rectangular":[227],"cross":[228],"section,":[229],"secondly,":[231],"link,":[235],"loaded":[236],"reach":[238],"1.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}