{"id":"https://openalex.org/W2908797815","doi":"https://doi.org/10.1109/icarm.2018.8610688","title":"Fabrication and Characterization of Novel Soft Compliant Robotic End-Effectors with Negative Pressure and Mechanical Advantages","display_name":"Fabrication and Characterization of Novel Soft Compliant Robotic End-Effectors with Negative Pressure and Mechanical Advantages","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2908797815","doi":"https://doi.org/10.1109/icarm.2018.8610688","mag":"2908797815"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5019604119","display_name":"Abhishek Bamotra","orcid":"https://orcid.org/0000-0002-6502-2791"},"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":"Abhishek Bamotra","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016336524","display_name":"Pushpinder Walia","orcid":"https://orcid.org/0000-0001-9446-1497"},"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":"Pushpinder Walia","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071662356","display_name":"A. V. Prituja","orcid":null},"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":"A.V. Prituja","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"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":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.5575,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.662178,"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":"369","last_page":"374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9970999956130981,"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":0.9970999956130981,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9945999979972839,"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/grippers","display_name":"Grippers","score":0.9629541635513306},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8100496530532837},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.6670300960540771},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5884637832641602},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.5590986609458923},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5454041957855225},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.4942381680011749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43211793899536133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36756622791290283}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9629541635513306},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8100496530532837},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.6670300960540771},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5884637832641602},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.5590986609458923},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5454041957855225},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.4942381680011749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43211793899536133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36756622791290283},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5299999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1978646801","https://openalex.org/W2012409215","https://openalex.org/W2022024011","https://openalex.org/W2029744358","https://openalex.org/W2061934921","https://openalex.org/W2096780166","https://openalex.org/W2144590483","https://openalex.org/W2163974073","https://openalex.org/W2241606133","https://openalex.org/W2545152965","https://openalex.org/W2792490491","https://openalex.org/W6690315588"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2069698258","https://openalex.org/W2892546005","https://openalex.org/W4312555732","https://openalex.org/W2095492957","https://openalex.org/W2922139741"],"abstract_inverted_index":{"Vacuum":[0],"gripping":[1],"technology":[2,23,112],"is":[3,119,153,201],"ancient":[4],"and":[5,30,56,93,185,189,233],"manipulating":[6],"the":[7,64,90,106,108,141,164,173,187,202,205,213,216],"object":[8,73],"with":[9,47,52,82,182,241],"suction":[10,76,80,133,143,243],"has":[11,172,186],"been":[12],"predominantly":[13],"used":[14],"to":[15,96,155,191,207,219,237],"many":[16,235],"confined":[17],"well-defined":[18],"problems.":[19],"Grippers":[20],"employing":[21],"this":[22,111,125],"are":[24],"effective":[25],"in":[26,44,99,124],"lifting":[27,45,176,228],"soft":[28],"materials":[29],"heavier":[31],"objects.":[32],"They":[33],"also":[34],"have":[35],"an":[36,40,83],"advantage":[37],"of":[38,66,102,105,110,117,132,175,196,204,215],"providing":[39],"active":[41],"grasp":[42,58],"control":[43],"objects":[46,118,210],"a":[48,53,114,129,138,149,193],"large":[49],"surface":[50],"area":[51],"remarkable":[54],"ease":[55,184],"enhanced":[57],"stability":[59],"than":[60,212],"standard/hand-held":[61],"grippers.":[62,244],"However,":[63],"potential":[65],"these":[67],"vacuum":[68,86,151],"based":[69],"grippers":[70],"for":[71,113,140],"grasping":[72],"requiring":[74],"higher":[75,211,227],"force":[77,195],"needs":[78],"multiple":[79,142,157],"cups":[81],"individual":[84],"central":[85],"pump":[87,152],"which":[88,135],"make":[89],"setup":[91],"bulky":[92],"immovable.":[94],"Due":[95,218],"increased":[97],"complexity":[98],"designing,":[100],"fabricating":[101],"different":[103],"components":[104],"gripper,":[107],"application":[109],"larger":[115],"range":[116],"relatively":[120],"less":[121],"explored.":[122],"Thus,":[123],"work,":[126],"we":[127],"propose":[128],"novel":[130],"design":[131],"gripper":[134,171,206],"acts":[136],"as":[137,161],"replacement":[139],"cups.":[144],"In":[145],"our":[146],"design,":[147],"only":[148],"single":[150],"required":[154],"actuate":[156],"holes":[158],"that":[159,170],"work":[160],"suctions":[162],"on":[163],"contact":[165],"surface.":[166],"Our":[167],"results":[168],"highlight":[169],"capability":[174],"100":[177],"times":[178],"its":[179,220],"own":[180],"weight":[181],"great":[183],"strength":[188],"durability":[190],"withstand":[192],"maximum":[194],"40N.":[197],"One":[198],"important":[199],"feature":[200],"ability":[203],"lift":[208],"curved":[209],"dimension":[214],"gripper.":[217],"simple":[221],"structure,":[222],"easy":[223],"fabrication,":[224],"low":[225],"cost,":[226],"capabilities":[229],"makes":[230],"it":[231],"unique":[232],"opens":[234],"opportunities":[236],"see":[238],"advanced":[239],"applications":[240],"such":[242]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
