{"id":"https://openalex.org/W4387123890","doi":"https://doi.org/10.1109/case56687.2023.10260421","title":"Folded, Articulated Manipulator with Inflatable Skin Enabling Bending and Extension Using a Tension Cutoff Mechanism","display_name":"Folded, Articulated Manipulator with Inflatable Skin Enabling Bending and Extension Using a Tension Cutoff Mechanism","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387123890","doi":"https://doi.org/10.1109/case56687.2023.10260421"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260421","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/case56687.2023.10260421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073272162","display_name":"Yuto Yoshimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuto Yoshimoto","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011754844","display_name":"Tomoya Takahashi","orcid":"https://orcid.org/0000-0003-0919-2312"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoya Takahashi","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027242904","display_name":"Kazuki Abe","orcid":"https://orcid.org/0000-0001-5308-4859"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuki Abe","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015409351","display_name":"Masahiro WATANABE","orcid":"https://orcid.org/0000-0002-6675-4214"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Watanabe","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075899824","display_name":"Syunsuke Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Syunsuke Sano","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3466","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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":0.9970999956130981,"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/inflatable","display_name":"Inflatable","score":0.9646698236465454},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5430384278297424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.531136691570282},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5205039381980896},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4679250717163086},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4551309645175934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4196356534957886},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4128352701663971},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39346399903297424},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3692457973957062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19548514485359192},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.18501600623130798},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.183758944272995}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.9646698236465454},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5430384278297424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.531136691570282},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5205039381980896},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4679250717163086},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4551309645175934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4196356534957886},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4128352701663971},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39346399903297424},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3692457973957062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19548514485359192},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.18501600623130798},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.183758944272995},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case56687.2023.10260421","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/case56687.2023.10260421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W759378964","https://openalex.org/W1836215632","https://openalex.org/W2006756413","https://openalex.org/W2014473363","https://openalex.org/W2016724894","https://openalex.org/W2022024011","https://openalex.org/W2023222686","https://openalex.org/W2044013801","https://openalex.org/W2073142361","https://openalex.org/W2167557084","https://openalex.org/W2575464634","https://openalex.org/W2737491236","https://openalex.org/W2878430784","https://openalex.org/W2892136599","https://openalex.org/W3005971243","https://openalex.org/W3020927757","https://openalex.org/W3034207080","https://openalex.org/W3090142497","https://openalex.org/W3090215588","https://openalex.org/W3154180397","https://openalex.org/W4255466541","https://openalex.org/W4310607702","https://openalex.org/W6622141878"],"related_works":["https://openalex.org/W2136901311","https://openalex.org/W4317435135","https://openalex.org/W2788946470","https://openalex.org/W1554139824","https://openalex.org/W2753822333","https://openalex.org/W3112576735","https://openalex.org/W181922973","https://openalex.org/W2770445003","https://openalex.org/W2122254900","https://openalex.org/W2606841922"],"abstract_inverted_index":{"Robots":[0],"providing":[1],"safe":[2],"services":[3],"in":[4,33,147,168],"the":[5,14,116,127,130,149,153,159,169,181,188],"same":[6],"space":[7],"as":[8,49],"humans":[9,28],"are":[10,19],"popular":[11],"owing":[12],"to":[13,36,44,85,158,198],"aging":[15],"population.":[16],"Inflatable":[17],"structures":[18],"suitable":[20],"for":[21],"robots":[22],"that":[23,41,65,115],"assume":[24],"physical":[25],"contact":[26],"with":[27,60,71,97],"because":[29],"they":[30],"enable":[31],"changes":[32],"rigidity":[34],"according":[35],"internal":[37],"pressurization.":[38],"However,":[39,133],"systems":[40],"provide":[42],"support":[43],"relatively":[45],"heavy":[46],"objects,":[47],"such":[48],"humans,":[50],"warrant":[51],"safety":[52],"concerns.":[53],"We":[54,113],"introduce":[55],"a":[56,61,105,110,144,164,173],"wire":[57],"bending":[58,135,154,177],"system":[59,76,146],"tension":[62,165],"cutoff":[63,166],"mechanism":[64,167,194],"can":[66,77,195],"simultaneously":[67],"bend":[68],"and":[69,100,136,178,187,202],"extend":[70],"minimal":[72],"driving":[73,150],"force.":[74],"The":[75,175],"be":[78,119,196],"installed":[79],"on":[80],"an":[81,87,94,123],"articulated":[82,107,170,200],"skeleton":[83,108],"used":[84],"design":[86],"inflatable":[88,95,182],"arm.":[89],"Our":[90],"research":[91],"team":[92],"developed":[93],"arm":[96,117,183],"both":[98],"soft":[99],"rigid":[101],"mechanisms":[102],"by":[103,162],"incorporating":[104],"folded":[106],"into":[109],"membrane":[111],"structure.":[112],"verified":[114],"could":[118],"actively":[120],"wound":[121],"around":[122],"object":[124,128],"without":[125],"damaging":[126],"using":[129,204],"conventional":[131],"machine.":[132],"simultaneous":[134,176],"extension":[137,179],"were":[138,184],"not":[139],"achieved.":[140],"Therefore,":[141],"we":[142],"constructed":[143],"wire-bending":[145],"which":[148],"force":[151],"of":[152,180],"is":[155],"transmitted":[156],"only":[157],"necessary":[160],"point":[161],"installing":[163],"skeleton.":[171],"As":[172],"result,":[174],"achieved":[185],"mechanically,":[186],"functionality":[189],"was":[190],"successfully":[191],"improved.":[192],"This":[193],"applied":[197],"wire-driven":[199],"manipulators":[201],"machines":[203],"rotating":[205],"wires.":[206]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}