{"id":"https://openalex.org/W7148432983","doi":"https://doi.org/10.1109/access.2026.3680340","title":"Design and Analysis of a Novel High-Extension Modular Manipulator for Dexterous and Confined-Space Operations","display_name":"Design and Analysis of a Novel High-Extension Modular Manipulator for Dexterous and Confined-Space Operations","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7148432983","doi":"https://doi.org/10.1109/access.2026.3680340"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3680340","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3680340","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://doi.org/10.1109/access.2026.3680340","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038202420","display_name":"Jayant Unde","orcid":"https://orcid.org/0000-0002-3369-776X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Jayant Unde","raw_affiliation_strings":["Institutes of Innovation for Future Society, Nagoya University, Nagoya, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3369-776X","affiliations":[{"raw_affiliation_string":"Institutes of Innovation for Future Society, Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132818700","display_name":"Yuki Wakayama","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Wakayama","raw_affiliation_strings":["Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016598968","display_name":"Takumi Inden","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Inden","raw_affiliation_strings":["Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081397540","display_name":"Jacinto Colan","orcid":"https://orcid.org/0000-0002-8833-2215"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jacinto Colan","raw_affiliation_strings":["Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8833-2215","affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Institutes of Innovation for Future Society, Nagoya University, Nagoya, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9917-098X","affiliations":[{"raw_affiliation_string":"Institutes of Innovation for Future Society, Nagoya University, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038202420"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.78162417,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"51846","last_page":"51864"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.866599977016449,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.866599977016449,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.03929999843239784,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.023099999874830246,"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/modular-design","display_name":"Modular design","score":0.6514000296592712},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5939000248908997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32179999351501465},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.2962999939918518},{"id":"https://openalex.org/keywords/modular-construction","display_name":"Modular construction","score":0.29100000858306885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28600001335144043},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.2797999978065491}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103999853134155},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6514000296592712},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5939000248908997},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4722999930381775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32179999351501465},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2962999939918518},{"id":"https://openalex.org/C2777614354","wikidata":"https://www.wikidata.org/wiki/Q55648394","display_name":"Modular construction","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2797999978065491},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2727000117301941},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.2680000066757202},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.2671000063419342},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3680340","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3680340","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3c8d040e92714192ad9ca45d8242f3b7","is_oa":true,"landing_page_url":"https://doaj.org/article/3c8d040e92714192ad9ca45d8242f3b7","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 51846-51864 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3680340","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3680340","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4965348387","display_name":"\u6d3b\u529b\u3042\u308b\u793e\u4f1a\u3092\u5275\u308b\u9069\u5fdc\u81ea\u5728AI\u30ed\u30dc\u30c3\u30c8\u7fa4","funder_award_id":"JPMJMS2034","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"},{"id":"https://openalex.org/G8884929826","display_name":null,"funder_award_id":"JPMJMS2034","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"},{"id":"https://openalex.org/F4320338247","display_name":"Moonshot Research and Development Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Conventional":[0],"rigid-link":[1],"manipulators":[2,25],"are":[3,43],"ineffective":[4],"in":[5],"cluttered":[6],"and":[7,22,42,56,85,108,150,162,191],"confined":[8],"environments,":[9],"such":[10],"as":[11,70],"in-home":[12],"assistive":[13,187],"care":[14],"or":[15],"industrial":[16],"maintenance,":[17],"which":[18],"require":[19],"high":[20,125],"dexterity":[21],"adaptability.":[23],"Hyper-redundant":[24],"(HRMs)":[26],"offer":[27],"a":[28,60,71,81,86,124,139,184,196],"solution,":[29],"but":[30],"many":[31],"existing":[32],"modular":[33,63],"designs":[34],"lack":[35],"full":[36,105],"3D":[37,106],"maneuverability,":[38],"particularly":[39],"yaw":[40,98],"rotation,":[41],"limited":[44],"by":[45,181],"low":[46],"extension":[47],"ratios.":[48],"This":[49],"paper":[50],"presents":[51],"the":[52,93,101,110,143,147,151,171,177,189],"design,":[53],"kinematic":[54,144],"analysis,":[55],"experimental":[57],"validation":[58],"of":[59,78,92,113,119,128,146,193],"novel":[61,76],"high-extension":[62],"HRM":[64],"architecture.":[65],"The":[66,90,116],"manipulator":[67],"is":[68,160],"constructed":[69],"serial":[72],"chain":[73],"comprising":[74],"two":[75],"types":[77],"parallel-link":[79],"modules:":[80],"Bending-Extension":[82],"(BE)":[83],"module":[84,95,102],"Bending-Extension-Rotation":[87],"(BER)":[88],"module.":[89],"integration":[91],"BER":[94],"provides":[96],"crucial":[97],"rotation":[99],"at":[100],"level,":[103],"enabling":[104],"motion":[107],"overcoming":[109],"planar":[111],"limitations":[112],"similar":[114],"designs.":[115],"14":[117],"degrees":[118],"freedom":[120],"proof-of-concept":[121],"prototype":[122,159],"achieves":[123],"stretch":[126],"ratio":[127],"197.6%":[129],"(extending":[130],"from":[131],"581":[132],"mm":[133],"to":[134],"1148":[135],"mm)":[136],"while":[137],"maintaining":[138],"hollow-core":[140],"structure.We":[141],"present":[142],"analysis":[145],"individual":[148],"modules":[149],"complete":[152],"manipulator,":[153],"including":[154],"analytical":[155],"workspace":[156],"evaluation.":[157],"A":[158],"fabricated,":[161],"its":[163],"control":[164,169],"system,":[165],"based":[166],"on":[167,195],"resolved-rate":[168],"using":[170],"pseudo-inverse":[172],"Jacobian.":[173],"Finally,":[174],"we":[175],"demonstrate":[176],"manipulator\u2019s":[178],"practical":[179],"viability":[180],"successfully":[182],"performing":[183],"complex,":[185],"confined-space":[186],"task:":[188],"raising":[190],"lowering":[192],"trousers":[194],"mannequin.":[197]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2026-04-03T00:00:00"}