{"id":"https://openalex.org/W2786982402","doi":"https://doi.org/10.1109/iccis.2017.8274762","title":"Grasping model and experiment of a soft robot gripper with variable stiffness","display_name":"Grasping model and experiment of a soft robot gripper with variable stiffness","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2786982402","doi":"https://doi.org/10.1109/iccis.2017.8274762","mag":"2786982402"},"language":"en","primary_location":{"id":"doi:10.1109/iccis.2017.8274762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5077689873","display_name":"Haibin Yin","orcid":"https://orcid.org/0000-0002-9088-991X"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Yin","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086274163","display_name":"Xutao Zhang","orcid":"https://orcid.org/0000-0001-5259-5745"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xutao Zhang","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450045","display_name":"Junfeng Li","orcid":"https://orcid.org/0000-0001-7672-5049"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Li","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101602898","display_name":"Jianguo Cao","orcid":"https://orcid.org/0000-0002-5863-0115"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianguo Cao","raw_affiliation_strings":["School of Mechanical Engineering, University of Sciense and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Sciense and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"134","last_page":"139"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/robot","display_name":"Robot","score":0.7521591186523438},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7399908900260925},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.7066977024078369},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6062812805175781},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.5657875537872314},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4436512589454651},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43092668056488037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39944350719451904},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34252750873565674},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2944529056549072},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2907969355583191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2841787338256836}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7521591186523438},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7399908900260925},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.7066977024078369},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6062812805175781},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.5657875537872314},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4436512589454651},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43092668056488037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39944350719451904},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34252750873565674},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2944529056549072},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2907969355583191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2841787338256836},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccis.2017.8274762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274762","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1985124115","https://openalex.org/W1986265391","https://openalex.org/W2029198051","https://openalex.org/W2029744358","https://openalex.org/W2053614949","https://openalex.org/W2060968157","https://openalex.org/W2086658405","https://openalex.org/W2113107169","https://openalex.org/W2127966735","https://openalex.org/W2157949038","https://openalex.org/W2159322185","https://openalex.org/W2166585449","https://openalex.org/W2169676681","https://openalex.org/W2534663435"],"related_works":["https://openalex.org/W2788805023","https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W4312233243","https://openalex.org/W2908594317","https://openalex.org/W3206105843","https://openalex.org/W4376605699","https://openalex.org/W4385356446","https://openalex.org/W3119366040","https://openalex.org/W2526555730"],"abstract_inverted_index":{"This":[0],"research":[1],"presents":[2],"a":[3,48,134],"soft":[4,30,49,64,98,131,145,158,175],"robot":[5,31,50,99,132,146,159,176],"gripper,":[6,32,133],"which":[7],"possesses":[8],"variable":[9,39,102,149],"stiffness":[10,40,103,150],"resulting":[11],"from":[12,86],"shape":[13],"memory":[14],"alloy":[15],"(SMA)-1":[16],"fiber":[17,43],"and":[18,44,106,119,169],"actuated":[19],"by":[20],"SMA-2":[21,80],"wires.":[22],"To":[23,92,124],"investigate":[24],"the":[25,29,34,38,56,59,63,69,73,76,79,87,94,97,114,126,130,144,153,157,164,170,174],"grasping":[26,45,60,115,127,136,154,171],"capacity":[27],"of":[28,37,41,47,62,78,89,129,143,156,166,173],"both":[33],"theoretical":[35,57],"models":[36],"SMA":[42],"force":[46,61,155],"finger":[51,65,70,100],"are":[52,122],"introduced.":[53],"Based":[54],"on":[55],"analysis,":[58],"doesn't":[66],"produce":[67],"before":[68],"contacts":[71],"with":[72,101,148,163],"object":[74],"under":[75],"work":[77],"wires,":[81],"moreover":[82],"can":[83],"be":[84],"affected":[85],"rigidity":[88],"SMA-1":[90],"fiber.":[91],"verify":[93],"analytical":[95],"results,":[96],"is":[104,110,138],"designed":[105],"an":[107],"experimental":[108,118,141],"setup":[109],"built":[111],"to":[112],"measure":[113],"force.":[116],"The":[117,140],"simulation":[120],"results":[121,142],"compared.":[123],"check":[125],"ability":[128,172],"two-finger":[135],"experiment":[137],"conducted.":[139],"gripper":[147,160,177],"indicate":[151],"that":[152],"has":[161],"increased":[162],"growth":[165],"its":[167],"stiffness,":[168],"grows":[178],"at":[179],"least":[180],"40%.":[181]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
