{"id":"https://openalex.org/W4405490008","doi":"https://doi.org/10.1109/embc53108.2024.10782645","title":"A Novel 6-DOF Parallel Continuum Robot with Enhanced Reachable Workspace and Range of Twisting","display_name":"A Novel 6-DOF Parallel Continuum Robot with Enhanced Reachable Workspace and Range of Twisting","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4405490008","doi":"https://doi.org/10.1109/embc53108.2024.10782645","pmid":"https://pubmed.ncbi.nlm.nih.gov/40039896"},"language":"en","primary_location":{"id":"doi:10.1109/embc53108.2024.10782645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc53108.2024.10782645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5022815255","display_name":"Yuhang Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I44892455","display_name":"Takeda (Japan)","ror":"https://ror.org/04hjbmv12","country_code":"JP","type":"company","lineage":["https://openalex.org/I44892455"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuhang Lei","raw_affiliation_strings":["Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I44892455","https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113316146","display_name":"Ming Jiang","orcid":"https://orcid.org/0009-0004-1794-366X"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I44892455","display_name":"Takeda (Japan)","ror":"https://ror.org/04hjbmv12","country_code":"JP","type":"company","lineage":["https://openalex.org/I44892455"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ming Jiang","raw_affiliation_strings":["Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I44892455","https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862811","display_name":"Yusuke Sugahara","orcid":"https://orcid.org/0000-0003-0222-7180"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I44892455","display_name":"Takeda (Japan)","ror":"https://ror.org/04hjbmv12","country_code":"JP","type":"company","lineage":["https://openalex.org/I44892455"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Sugahara","raw_affiliation_strings":["Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I44892455","https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I44892455","display_name":"Takeda (Japan)","ror":"https://ror.org/04hjbmv12","country_code":"JP","type":"company","lineage":["https://openalex.org/I44892455"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Takeda","raw_affiliation_strings":["Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Takeda&#x2022;Sugahara Laboratory,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I44892455","https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3198,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56093746,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"2024","issue":null,"first_page":"1","last_page":"4"},"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9954000115394592,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9937999844551086,"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/workspace","display_name":"Workspace","score":0.8782926797866821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6219004392623901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5663926005363464},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5620856285095215},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4156368672847748},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3451714515686035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16247722506523132},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14206025004386902},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11944064497947693},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07114842534065247}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8782926797866821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6219004392623901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5663926005363464},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5620856285095215},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4156368672847748},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3451714515686035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16247722506523132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14206025004386902},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11944064497947693},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07114842534065247}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc53108.2024.10782645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc53108.2024.10782645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:40039896","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40039896","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0006509923","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100928163","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"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":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2077568148","https://openalex.org/W2127143922","https://openalex.org/W2739012036","https://openalex.org/W2773367425","https://openalex.org/W2810539044","https://openalex.org/W3043070735","https://openalex.org/W4210927443","https://openalex.org/W4388343448"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2066019639","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W1875852913","https://openalex.org/W1518655544","https://openalex.org/W3162047364"],"abstract_inverted_index":{"The":[0],"Parallel":[1],"Continuum":[2],"Robot":[3],"(PCR)":[4],"is":[5,140],"an":[6,57,95],"emerging":[7],"class":[8],"of":[9,30,69,85,90,101,115,136],"soft":[10],"robotics":[11],"distinguished":[12],"by":[13,36],"features":[14],"such":[15,65],"as":[16,45,66],"flexibility,":[17],"safety,":[18],"compactness,":[19],"and":[20,32,99,112],"dexterity":[21],"attributed":[22],"to":[23,60],"their":[24,28],"continuous":[25],"components,":[26],"meanwhile":[27],"lack":[29],"precision":[31],"stiffness":[33],"are":[34,118],"compensated":[35],"the":[37,67,91,113,128],"parallel":[38],"configuration.":[39],"These":[40],"inherent":[41],"advantages":[42],"position":[43],"PCR":[44,82],"a":[46,70,80,105,124,143],"potential":[47],"choice":[48],"for":[49,109],"applications":[50],"ranging":[51],"from":[52],"flexible":[53],"bio-mimetic":[54],"robots":[55],"like":[56],"elephant":[58],"trunk":[59],"scenarios":[61],"requiring":[62],"human":[63],"contact,":[64],"manipulator":[68],"minimally":[71],"invasive":[72],"surgical":[73],"robot.":[74],"In":[75],"this":[76,110],"paper,":[77],"we":[78],"propose":[79],"novel":[81],"design":[83,117],"capable":[84],"achieving":[86],"6":[87],"degree-of-freedom":[88],"control":[89],"end":[92],"effector,":[93],"with":[94,142],"augmented":[96],"reachable":[97],"workspace":[98],"range":[100],"twisting.":[102],"We":[103],"present":[104],"theoretical":[106],"modeling":[107],"approach":[108],"mechanism,":[111],"merits":[114],"our":[116],"demonstrated":[119],"through":[120],"simulation":[121],"results,":[122],"offering":[123],"comparative":[125],"analysis":[126],"against":[127],"conventional":[129],"Stewart-Gough":[130],"pattern":[131],"design.":[132],"Then,":[133],"its":[134],"capability":[135],"large-range":[137],"twisting":[138],"motion":[139],"validated":[141],"prototype.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-23T13:55:30.953635","created_date":"2025-10-10T00:00:00"}
