{"id":"https://openalex.org/W2064673217","doi":"https://doi.org/10.1109/icra.2012.6225070","title":"Characterizing the stiffness of a multi-segment flexible arm during motion","display_name":"Characterizing the stiffness of a multi-segment flexible arm during motion","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2064673217","doi":"https://doi.org/10.1109/icra.2012.6225070","mag":"2064673217"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5037048516","display_name":"David Held","orcid":"https://orcid.org/0000-0003-0537-1508"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["IL","US"],"is_corresponding":false,"raw_author_name":"David Held","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Weizmann Institute of Science, Rehovot, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Weizmann Institute of Science, Rehovot, Israel","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070632006","display_name":"Yoram Yekutieli","orcid":"https://orcid.org/0000-0002-4398-4906"},"institutions":[{"id":"https://openalex.org/I3131873961","display_name":"Hadassah Academic College","ror":"https://ror.org/03bdv1r55","country_code":"IL","type":"education","lineage":["https://openalex.org/I3131873961"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Yoram Yekutieli","raw_affiliation_strings":["Computer Science Department, Hadassah College, Jerusalem, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Hadassah College, Jerusalem, Israel","institution_ids":["https://openalex.org/I3131873961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012529469","display_name":"Tamar Flash","orcid":"https://orcid.org/0000-0002-5142-8942"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Tamar Flash","raw_affiliation_strings":["Department of Computer Science and Applied Math, Weizmann Institute of Science, Rehovot, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Applied Math, Weizmann Institute of Science, Rehovot, Israel","institution_ids":["https://openalex.org/I53964585"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"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":"88","issue":null,"first_page":"3825","last_page":"3832"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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":0.996999979019165,"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/T10982","display_name":"Motor Control and Adaptation","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9940000176429749,"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/stiffness","display_name":"Stiffness","score":0.7009642124176025},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6720431447029114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6457565426826477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6298397779464722},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5456994771957397},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5343042612075806},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.527401864528656},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.4768332540988922},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.4645967185497284},{"id":"https://openalex.org/keywords/octopus","display_name":"octopus (software)","score":0.45626306533813477},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4373144507408142},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41986721754074097},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3871813118457794},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37802961468696594},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36655187606811523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3626781702041626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3239101767539978},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3064265251159668},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13130074739456177}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7009642124176025},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6720431447029114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6457565426826477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6298397779464722},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5456994771957397},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5343042612075806},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.527401864528656},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.4768332540988922},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.4645967185497284},{"id":"https://openalex.org/C2779205690","wikidata":"https://www.wikidata.org/wiki/Q7077081","display_name":"octopus (software)","level":2,"score":0.45626306533813477},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4373144507408142},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41986721754074097},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3871813118457794},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37802961468696594},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36655187606811523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3626781702041626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3239101767539978},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3064265251159668},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13130074739456177},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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":32,"referenced_works":["https://openalex.org/W203724693","https://openalex.org/W1856925845","https://openalex.org/W1966685830","https://openalex.org/W1989998108","https://openalex.org/W1992923590","https://openalex.org/W2002078422","https://openalex.org/W2011562875","https://openalex.org/W2036702674","https://openalex.org/W2049511808","https://openalex.org/W2051643078","https://openalex.org/W2053133492","https://openalex.org/W2056240245","https://openalex.org/W2067243719","https://openalex.org/W2074541923","https://openalex.org/W2075442608","https://openalex.org/W2084109206","https://openalex.org/W2090817800","https://openalex.org/W2112707027","https://openalex.org/W2114619827","https://openalex.org/W2117048589","https://openalex.org/W2118106418","https://openalex.org/W2129872155","https://openalex.org/W2133918216","https://openalex.org/W2149470396","https://openalex.org/W2156218502","https://openalex.org/W2156510948","https://openalex.org/W2162502118","https://openalex.org/W2164643251","https://openalex.org/W4231457463","https://openalex.org/W4251181231","https://openalex.org/W4251318673","https://openalex.org/W6683982192"],"related_works":["https://openalex.org/W2847753129","https://openalex.org/W2196801576","https://openalex.org/W3034881631","https://openalex.org/W2530592890","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134","https://openalex.org/W1515399142","https://openalex.org/W2699559358","https://openalex.org/W4402911998"],"abstract_inverted_index":{"A":[0],"number":[1,94],"of":[2,19,52,60,95,148],"robotic":[3],"studies":[4],"have":[5],"recently":[6],"turned":[7],"to":[8,68,86,126,139,156],"biological":[9],"inspiration":[10],"in":[11,38],"designing":[12],"control":[13,32,101,108],"schemes":[14],"for":[15,110,129,161],"flexible":[16,112],"robots.":[17],"Examples":[18],"such":[20],"robots":[21],"include":[22],"continuous":[23],"manipulators":[24],"inspired":[25,106],"by":[26,35],"the":[27,31,70,80,142,159],"octopus":[28,37,54],"arm.":[29,81,114],"However,":[30],"strategies":[33],"used":[34,155],"an":[36,53],"moving":[39],"its":[40],"arms":[41],"are":[42],"still":[43],"not":[44],"fully":[45],"understood.":[46],"Starting":[47],"from":[48],"a":[49,57,65,73,93,100,104,111,119,136,146],"dynamic":[50,131,166],"model":[51],"arm":[55],"and":[56,75,88,165],"given":[58,145],"set":[59,147],"muscle":[61,149],"activations,":[62],"we":[63,91],"develop":[64],"simulation":[66],"technique":[67,85],"characterize":[69],"stiffness":[71,143,160],"throughout":[72],"motion":[74,128],"at":[76],"multiple":[77],"points":[78],"along":[79],"By":[82],"applying":[83],"this":[84],"reaching":[87],"bending":[89],"motions,":[90],"gain":[92],"insights":[96],"that":[97,122],"can":[98,123,153],"help":[99],"engineer":[102],"design":[103],"biologically":[105],"impedance":[107],"scheme":[109],"robot":[113],"The":[115],"framework":[116],"developed":[117],"is":[118],"general":[120],"one":[121],"be":[124,154],"applied":[125],"any":[127,130],"model.":[132],"We":[133],"also":[134],"propose":[135],"theoretical":[137],"analysis":[138,152],"efficiently":[140],"estimate":[141],"analytically":[144],"activations.":[150],"This":[151],"quickly":[157],"evaluate":[158],"new":[162],"static":[163],"configurations":[164],"movements.":[167]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
