{"id":"https://openalex.org/W2585395456","doi":"https://doi.org/10.1109/icinfa.2016.7832040","title":"Preliminary design and study of a bio-inspired wire-driven serpentine robotic manipulator with direct drive capability","display_name":"Preliminary design and study of a bio-inspired wire-driven serpentine robotic manipulator with direct drive capability","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2585395456","doi":"https://doi.org/10.1109/icinfa.2016.7832040","mag":"2585395456"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7832040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","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/A5100734442","display_name":"Se Hoon Kim","orcid":"https://orcid.org/0000-0001-7516-7372"},"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":"Sehun Kim","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","institution_ids":["https://openalex.org/I165932596"]},{"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/A5023887002","display_name":"Wenjun Xu","orcid":"https://orcid.org/0000-0002-0053-0752"},"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":"Wenjun Xu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","institution_ids":["https://openalex.org/I165932596"]},{"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/A5080883308","display_name":"Xiaoyi Gu","orcid":"https://orcid.org/0000-0003-4257-3555"},"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":"Gu Xiaoyi","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","institution_ids":["https://openalex.org/I165932596"]},{"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, 9 Engineering Drive 1, Singapore 117575","Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575","institution_ids":["https://openalex.org/I165932596"]},{"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":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1409","last_page":"1413"},"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":0.9824000000953674,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9595999717712402,"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/actuator","display_name":"Actuator","score":0.7955293655395508},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.6264946460723877},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5445591807365417},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5424275398254395},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5248653888702393},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5192130208015442},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5154255628585815},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.48250436782836914},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4756992757320404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42132067680358887},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38474687933921814},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3785618543624878},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33606863021850586},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2624058127403259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1903371512889862}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7955293655395508},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.6264946460723877},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5445591807365417},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5424275398254395},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5248653888702393},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5192130208015442},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5154255628585815},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.48250436782836914},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4756992757320404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42132067680358887},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38474687933921814},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3785618543624878},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33606863021850586},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2624058127403259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1903371512889862},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2016.7832040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W432289371","https://openalex.org/W1024591929","https://openalex.org/W1489545255","https://openalex.org/W1576020087","https://openalex.org/W1606850352","https://openalex.org/W1677032491","https://openalex.org/W1891615552","https://openalex.org/W1967728830","https://openalex.org/W1984821605","https://openalex.org/W1997480144","https://openalex.org/W2004910967","https://openalex.org/W2011972884","https://openalex.org/W2020409524","https://openalex.org/W2049511808","https://openalex.org/W2057785338","https://openalex.org/W2058905057","https://openalex.org/W2074805944","https://openalex.org/W2095462685","https://openalex.org/W2095804824","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2115054984","https://openalex.org/W2131150943","https://openalex.org/W2179724005","https://openalex.org/W2199227703","https://openalex.org/W2213647436","https://openalex.org/W2295877882","https://openalex.org/W2329035258","https://openalex.org/W6664834859"],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W848152769","https://openalex.org/W59441132","https://openalex.org/W3200772726","https://openalex.org/W1996341361","https://openalex.org/W4392894440","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2732119783","https://openalex.org/W2125082648"],"abstract_inverted_index":{"Flexible":[0],"or":[1,44],"continuum":[2],"robot":[3,78],"arms":[4],"have":[5],"been":[6],"studied":[7],"for":[8,47,114],"the":[9,35,48,64,73,77,105,115,151,160],"past":[10],"two":[11],"decades":[12],"and":[13,98,119,127,135,145,157],"these":[14],"robots":[15],"are":[16,51],"recently":[17],"emerging":[18],"in":[19,34,63],"many":[20,28],"applications":[21],"such":[22,41,57],"as":[23,42,58],"surgery,":[24],"rehabilitation,":[25],"industry,":[26],"among":[27],"others.":[29],"For":[30],"safe":[31],"operation":[32],"especially":[33],"surgical":[36,65],"areas,":[37],"active":[38,116],"compliance":[39,117],"controls":[40,46],"force":[43,111],"impedance":[45],"flexible":[49,153],"manipulators":[50],"required.":[52],"Due":[53],"to":[54,123],"several":[55],"restrictions":[56],"small":[59],"size,":[60],"cost,":[61],"sterilization":[62],"fields,":[66],"however,":[67],"a":[68,88,136,142],"physical":[69],"sensor":[70],"attached":[71],"at":[72],"distal":[74],"end":[75],"of":[76,132,138,150,159],"arm":[79,107],"may":[80],"be":[81],"limited.":[82],"Thus,":[83],"this":[84],"paper":[85],"has":[86,108],"designed":[87],"bio-inspired":[89],"serpentine":[90],"robotic":[91,106],"manipulator":[92,154],"based":[93],"on":[94],"direct":[95,161],"drive":[96,162],"mechanisms":[97],"individual":[99],"tendon":[100],"actuation":[101],"structure":[102,130],"so":[103],"that":[104],"better":[109],"inherent":[110],"sensing":[112],"capability":[113],"control":[118,120],"performance":[121],"comparing":[122],"conventional":[124],"gear":[125],"mechanism":[126],"an":[128,147],"actuator":[129,134],"composed":[131],"one":[133],"pair":[137],"opposed":[139],"tendons.":[140],"As":[141],"preliminary":[143],"design":[144,149],"study,":[146],"overall":[148],"proposed":[152],"is":[155,163],"suggested":[156],"identification":[158],"performed.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
