{"id":"https://openalex.org/W2022162050","doi":"https://doi.org/10.1109/icra.2014.6907327","title":"An experimental kinestatic comparison between continuum manipulators with structural variations","display_name":"An experimental kinestatic comparison between continuum manipulators with structural variations","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2022162050","doi":"https://doi.org/10.1109/icra.2014.6907327","mag":"2022162050"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["RII Lab (Lab of Robotics Innovation and Intervention), Shanghai Jiao Tong University, Shanghai, China","RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064941303","display_name":"Minxiao Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minxiao Fu","raw_affiliation_strings":["RII Lab (Lab of Robotics Innovation and Intervention), Shanghai Jiao Tong University, Shanghai, China","RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083051754","display_name":"Jiangran Zhao","orcid":"https://orcid.org/0000-0001-9813-9198"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangran Zhao","raw_affiliation_strings":["RII Lab (Lab of Robotics Innovation and Intervention), Shanghai Jiao Tong University, Shanghai, China","RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9238,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.85038212,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3258","last_page":"3264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9782999753952026,"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":0.9577999711036682,"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/stiffness","display_name":"Stiffness","score":0.8086138963699341},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7558952569961548},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5811519622802734},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5238175988197327},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5129525065422058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5004227161407471},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.4350975751876831},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4288569986820221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41042694449424744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30220523476600647},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2379646897315979},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2209411859512329},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18751436471939087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16938868165016174},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09999752044677734}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8086138963699341},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7558952569961548},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5811519622802734},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5238175988197327},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5129525065422058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5004227161407471},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.4350975751876831},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4288569986820221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41042694449424744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30220523476600647},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2379646897315979},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2209411859512329},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18751436471939087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16938868165016174},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09999752044677734}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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":21,"referenced_works":["https://openalex.org/W1508309508","https://openalex.org/W1573670163","https://openalex.org/W1891615552","https://openalex.org/W1981296947","https://openalex.org/W1981574184","https://openalex.org/W1985568314","https://openalex.org/W1986948773","https://openalex.org/W2085029912","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2105377162","https://openalex.org/W2117212572","https://openalex.org/W2119343887","https://openalex.org/W2121744551","https://openalex.org/W2122861302","https://openalex.org/W2124540383","https://openalex.org/W2126182407","https://openalex.org/W2131150943","https://openalex.org/W2142752224","https://openalex.org/W6647025595","https://openalex.org/W6677763916"],"related_works":["https://openalex.org/W4244295168","https://openalex.org/W1977333149","https://openalex.org/W2601046814","https://openalex.org/W2944714857","https://openalex.org/W2029301385","https://openalex.org/W1994771094","https://openalex.org/W2042158690","https://openalex.org/W4389127589","https://openalex.org/W2090257039","https://openalex.org/W3952480"],"abstract_inverted_index":{"Continuum":[0],"manipulators":[1,28],"attract":[2],"a":[3,81,88,110],"lot":[4],"of":[5,34,74,93,101,109],"interests":[6],"due":[7],"to":[8,86,98],"their":[9],"advantageous":[10],"properties,":[11],"such":[12],"as":[13],"distal":[14],"dexterity,":[15],"design":[16,102],"compactness,":[17],"intrinsic":[18],"compliance":[19],"for":[20,104],"safe":[21],"interaction":[22],"with":[23],"unstructured":[24],"environments.":[25],"However,":[26],"these":[27],"sometimes":[29],"suffer":[30],"from":[31],"the":[32,62,72,99],"lack":[33],"enough":[35],"stiffness":[36,64,107],"while":[37],"applied":[38],"in":[39],"surgical":[40],"robotic":[41],"systems.":[42],"This":[43],"paper":[44,95],"presents":[45],"an":[46],"experimental":[47],"kinestatic":[48],"comparison":[49],"between":[50],"three":[51],"continuum":[52,111],"manipulators,":[53],"aiming":[54],"at":[55],"revealing":[56],"how":[57],"structural":[58],"variations":[59,67],"could":[60,96],"alter":[61],"manipulators'":[63],"properties.":[65],"These":[66],"not":[68],"only":[69],"include":[70,79],"modifying":[71],"arrangements":[73],"elastic":[75],"components,":[76],"but":[77],"also":[78],"integrating":[80],"passive":[82],"rigid":[83],"kinematic":[84],"chain":[85],"form":[87],"hybrid":[89,113],"continuum-rigid":[90],"manipulator.":[91,114],"Results":[92],"this":[94],"contribute":[97],"development":[100],"guidelines":[103],"realizing":[105],"desired":[106],"properties":[108],"or":[112]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}