{"id":"https://openalex.org/W4401751972","doi":"https://doi.org/10.1109/aim55361.2024.10637105","title":"Optimal Interaction-friendly Trajectory Generation of a Pneumatic Soft Continuum Manipulator","display_name":"Optimal Interaction-friendly Trajectory Generation of a Pneumatic Soft Continuum Manipulator","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401751972","doi":"https://doi.org/10.1109/aim55361.2024.10637105"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10637105","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5093950924","display_name":"Samuel Pilch","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Samuel Pilch","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Waldburgstraße 19,Stuttgart,Germany,70563"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Waldburgstraße 19,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111284272","display_name":"Daniel Klug","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Klug","raw_affiliation_strings":["Max-Eyth-Straße 38,Qest Antenna Technology GmbH in the Research and Development Department,Holzgerlingen,Germany,71088"],"affiliations":[{"raw_affiliation_string":"Max-Eyth-Straße 38,Qest Antenna Technology GmbH in the Research and Development Department,Holzgerlingen,Germany,71088","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Waldburgstraße 19,Stuttgart,Germany,70563"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Waldburgstraße 19,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093950924"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":0.1857,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46744191,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"200","issue":null,"first_page":"1189","last_page":"1196"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9940999746322632,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9934999942779541,"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/trajectory","display_name":"Trajectory","score":0.6994010210037231},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5372521877288818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4895971417427063},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.48076722025871277},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44282662868499756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.33188438415527344},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32477957010269165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27106550335884094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24507194757461548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11911454796791077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08456602692604065}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6994010210037231},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5372521877288818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4895971417427063},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.48076722025871277},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44282662868499756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33188438415527344},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32477957010269165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27106550335884094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24507194757461548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11911454796791077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08456602692604065},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10637105","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1985406432","https://openalex.org/W2001981441","https://openalex.org/W2038057030","https://openalex.org/W2064666803","https://openalex.org/W2066202893","https://openalex.org/W2112075057","https://openalex.org/W2123871098","https://openalex.org/W2127677850","https://openalex.org/W2280090643","https://openalex.org/W2743263284","https://openalex.org/W2842089854","https://openalex.org/W2901797979","https://openalex.org/W2999616233","https://openalex.org/W3010728311","https://openalex.org/W3088322508","https://openalex.org/W3165472471","https://openalex.org/W3214056068","https://openalex.org/W4211124276","https://openalex.org/W4229070994","https://openalex.org/W4391917635"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1755319685","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2373581562","https://openalex.org/W2354638634","https://openalex.org/W1973860365","https://openalex.org/W2358412393","https://openalex.org/W2380159283","https://openalex.org/W4319156915"],"abstract_inverted_index":{"The":[0,48,116,154],"technology":[1],"of":[2,12,19,50,72,85,99,129,149,158,186,194],"soft":[3,87,114,152],"continuum":[4,88],"robots":[5],"represents":[6],"an":[7,77],"advance":[8],"in":[9,96,135],"the":[10,70,97,112,123,127,142,146,150,159,173,180,184,187,192,195],"field":[11],"robotics":[13],"to":[14,29,37,60,197],"benefit":[15],"a":[16,107,136],"wide":[17],"range":[18],"industries":[20],"such":[21],"as":[22],"healthcare,":[23],"manufacturing":[24],"or":[25],"environmental":[26,38],"exploration.":[27],"Due":[28],"their":[30],"compliant":[31],"continuous":[32],"structure,":[33],"they":[34],"are":[35,119,133,165],"adaptive":[36],"conditions":[39],"and":[40,65,93,103,126,145,162,170,191],"thus":[41],"beneficial":[42],"for":[43,57,81,90,141],"physical":[44],"human-robot":[45],"interaction":[46],"(pHRI).":[47],"use":[49],"pneumatic":[51,86],"actuation":[52,190],"offers":[53],"crucial":[54],"safety":[55],"benefits":[56],"pHRI":[58,100],"due":[59],"its":[61,66],"direct":[62],"drive":[63],"characteristics":[64],"inherent":[67],"compliance":[68],"by":[69,111,122],"compressibility":[71],"air.":[73],"In":[74],"this":[75],"paper,":[76],"interaction-friendly,":[78],"optimization-based":[79],"method":[80,182],"offline":[82],"trajectory":[83],"generation":[84],"manipulators":[89],"allowing":[91],"undesired":[92],"desired":[94],"interactions":[95],"context":[98],"is":[101],"derived":[102],"validated":[104],"experimentally":[105],"on":[106],"handling":[108],"task":[109],"performed":[110],"bionic":[113,151],"arm.":[115,153],"interaction-friendly":[117,199],"criteria":[118],"mainly":[120],"described":[121],"manipulator\u2019s":[124],"stiffness":[125],"detectability":[128],"external":[130],"forces,":[131],"which":[132],"considered":[134],"two-step":[137],"optimal":[138,156],"control":[139],"problem":[140],"free":[143],"movement":[144],"contact":[147],"approach":[148],"resulting":[155],"trajectories":[157,169],"joint":[160,163],"angles":[161],"stiffnesses":[164],"compared":[166],"with":[167],"time-optimal":[168],"discussed.":[171],"From":[172],"measurements,":[174],"it":[175],"can":[176],"be":[177],"concluded":[178],"that":[179],"presented":[181],"exploits":[183],"redundancies":[185],"differential":[188],"pressure":[189],"properties":[193],"manipulator":[196],"achieve":[198],"trajectories.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}