{"id":"https://openalex.org/W2478331101","doi":"https://doi.org/10.1109/biorob.2016.7523654","title":"Design, kinematics, simulation of omni-directional bending reachability for a parallel structure forceps manipulator","display_name":"Design, kinematics, simulation of omni-directional bending reachability for a parallel structure forceps manipulator","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2478331101","doi":"https://doi.org/10.1109/biorob.2016.7523654","mag":"2478331101"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5019030923","display_name":"Quanquan Liu","orcid":"https://orcid.org/0000-0002-2044-6160"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Quanquan Liu","raw_affiliation_strings":["Department of Biomedical Engineering, National University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332821","display_name":"Jie Chen","orcid":"https://orcid.org/0000-0001-5540-086X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jie Chen","raw_affiliation_strings":["Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101878537","display_name":"Shen Shen","orcid":"https://orcid.org/0000-0001-9093-957X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shen Shen","raw_affiliation_strings":["Department of Biomedical Engineering, National University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106762816","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0003-1586-2239"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111640158","display_name":"Masakatsu G. Fujie","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masakatsu G. Fujie","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052645908","display_name":"Chwee Ming Lim","orcid":"https://orcid.org/0000-0001-9528-4365"},"institutions":[{"id":"https://openalex.org/I4210146690","display_name":"National University Hospital","ror":"https://ror.org/04fp9fm22","country_code":"SG","type":"healthcare","lineage":["https://openalex.org/I4210146690"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chweeming Lim","raw_affiliation_strings":["Department of Otolaryngology-Head and Neck Surgery, National University Hospital (NUH), Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Otolaryngology-Head and Neck Surgery, National University Hospital (NUH), Singapore","institution_ids":["https://openalex.org/I4210146690"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Faculty of Engineering, National University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, National University, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5019030923"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.8547,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73954564,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"371","last_page":"376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9934999942779541,"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"}},{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7278241515159607},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7226967215538025},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6920788884162903},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6285581588745117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5824428200721741},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5806843638420105},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.532065212726593},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5138680934906006},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.502331018447876},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4891369640827179},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.47195330262184143},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4618889391422272},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31654423475265503},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2597446143627167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23735353350639343},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16791880130767822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1287621259689331},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08661267161369324}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7278241515159607},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7226967215538025},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6920788884162903},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6285581588745117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5824428200721741},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5806843638420105},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.532065212726593},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5138680934906006},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.502331018447876},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4891369640827179},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.47195330262184143},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4618889391422272},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31654423475265503},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2597446143627167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23735353350639343},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16791880130767822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1287621259689331},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08661267161369324},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.75,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1497256506","https://openalex.org/W1900869239","https://openalex.org/W2006853673","https://openalex.org/W2050597453","https://openalex.org/W2070927739","https://openalex.org/W2077414981","https://openalex.org/W2087104703","https://openalex.org/W2129867740","https://openalex.org/W2133231729","https://openalex.org/W2154577349","https://openalex.org/W2263439218","https://openalex.org/W2485433067","https://openalex.org/W3143571057"],"related_works":["https://openalex.org/W2004793478","https://openalex.org/W2138377666","https://openalex.org/W1527306875","https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W2358666156","https://openalex.org/W2391892769","https://openalex.org/W3040474838","https://openalex.org/W4391529045"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,23,78],"5-DOF":[4],"manipulator":[5,38,91,102],"which":[6],"consists":[7],"of":[8,57,70,81,89],"three":[9,48,72],"parts,":[10],"1-DOF":[11,30],"translational":[12],"joint,":[13],"bendable":[15,34,59],"skeleton":[16,60],"(2-DOF":[17],"for":[18,28,31],"Omni-directional":[19],"bending":[20,42,79,117],"motion),":[21],"and":[22,54],"rotatable":[24],"forceps":[25],"gripper":[26],"(1-DOF":[27],"rotation,":[29],"opening/closing).":[32],"The":[33,63,87,121],"segment":[35],"in":[36,84,94],"the":[37,58,68,71,90,98,101,109,112,125,131],"achieves":[39],"two":[40],"orthogonal":[41],"DOFs":[43],"by":[44],"pulling":[45],"or":[46],"pushing":[47],"parallel":[49,73],"universal-joint-based":[50],"shaft":[51,74],"chains.":[52],"Forward":[53],"inverse":[55],"kinematics":[56],"is":[61,92,103,115],"analyzed.":[62],"workspace":[64],"calculation":[65],"illustrates":[66],"that":[67,124],"structure":[69],"chains":[75],"can":[76,128],"reach":[77],"angle":[80],"90":[82],"degree":[83],"arbitrarily":[85],"direction.":[86],"reachability":[88],"simulated":[93],"Adams\u00ae.":[95],"According":[96],"to":[97,105],"surgical":[99],"requirements,":[100],"actuated":[104],"draw":[106],"circle":[107],"during":[108],"tests":[110],"while":[111],"end":[113,126],"effector":[114,127],"kept":[116],"at":[118],"60":[119],"degree.":[120],"results":[122],"show":[123],"precisely":[129],"track":[130],"planning":[132],"trajectory":[133],"(precision":[134],"within":[135],"1":[136],"mm).":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
