{"id":"https://openalex.org/W2409045114","doi":"https://doi.org/10.1109/icra.2016.7487192","title":"Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design","display_name":"Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2409045114","doi":"https://doi.org/10.1109/icra.2016.7487192","mag":"2409045114"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487192","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 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/A5039498455","display_name":"Quentin Boehler","orcid":"https://orcid.org/0000-0001-7573-3135"},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Quentin Boehler","raw_affiliation_strings":["ICube - CNRS, University of Strasbourg - INSA, Strasbourg"],"affiliations":[{"raw_affiliation_string":"ICube - CNRS, University of Strasbourg - INSA, Strasbourg","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I2801509770"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082543646","display_name":"Marc V\u00e9drines","orcid":null},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marc Vedrines","raw_affiliation_strings":["ICube - CNRS, University of Strasbourg - INSA, Strasbourg"],"affiliations":[{"raw_affiliation_string":"ICube - CNRS, University of Strasbourg - INSA, Strasbourg","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I2801509770"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063109546","display_name":"Salih Abdelaziz","orcid":"https://orcid.org/0000-0002-5814-3018"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Salih Abdelaziz","raw_affiliation_strings":["LIRMM - CNRS - University of Montpellier"],"affiliations":[{"raw_affiliation_string":"LIRMM - CNRS - University of Montpellier","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Poignet","raw_affiliation_strings":["LIRMM - CNRS - University of Montpellier"],"affiliations":[{"raw_affiliation_string":"LIRMM - CNRS - University of Montpellier","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073635160","display_name":"Pierre Renaud","orcid":"https://orcid.org/0000-0002-2320-2807"},"institutions":[{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre Renaud","raw_affiliation_strings":["ICube - CNRS, University of Strasbourg - INSA, Strasbourg"],"affiliations":[{"raw_affiliation_string":"ICube - CNRS, University of Strasbourg - INSA, Strasbourg","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I2801509770"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039498455"],"corresponding_institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"],"apc_list":null,"apc_paid":null,"fwci":1.0437,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.76584069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"661","last_page":"667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973999857902527,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"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":0.8000922799110413},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5419550538063049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5394312739372253},{"id":"https://openalex.org/keywords/compatibility","display_name":"Compatibility (geochemistry)","score":0.5310497879981995},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.501927375793457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5001184940338135},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3800255358219147},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.34948939085006714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32441577315330505},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3233703076839447},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2541984021663666}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8000922799110413},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5419550538063049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5394312739372253},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.5310497879981995},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.501927375793457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5001184940338135},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3800255358219147},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.34948939085006714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32441577315330505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3233703076839447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2541984021663666},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487192","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-01276757v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01276757","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.icra2016.org","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1509562178","https://openalex.org/W1965624866","https://openalex.org/W1992627793","https://openalex.org/W1996869048","https://openalex.org/W2021638676","https://openalex.org/W2051377874","https://openalex.org/W2054120788","https://openalex.org/W2065284915","https://openalex.org/W2073136132","https://openalex.org/W2075233632","https://openalex.org/W2076598966","https://openalex.org/W2080638318","https://openalex.org/W2083132504","https://openalex.org/W2083493736","https://openalex.org/W2096003909","https://openalex.org/W2108154420","https://openalex.org/W2113593135","https://openalex.org/W2120630110","https://openalex.org/W2129310538","https://openalex.org/W2131106602","https://openalex.org/W2153366512","https://openalex.org/W2160722457","https://openalex.org/W2167654583","https://openalex.org/W4249394154","https://openalex.org/W6679076728"],"related_works":["https://openalex.org/W2390255551","https://openalex.org/W2367511445","https://openalex.org/W2381930792","https://openalex.org/W2358901819","https://openalex.org/W745733672","https://openalex.org/W2983545107","https://openalex.org/W2389102290","https://openalex.org/W2094745766","https://openalex.org/W233026431","https://openalex.org/W2379069623"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,21,43,87,105,116],"design":[4,106,117],"of":[5,23,62,86,98,107,118],"a":[6,52,80,93,112],"new":[7],"variable":[8,119],"stiffness":[9,33,38,120],"spherical":[10],"joint":[11],"for":[12,104,115],"MR-compatible":[13],"robotics":[14],"is":[15,18,49,73,77,102],"presented.":[16],"It":[17],"based":[19],"on":[20,79],"use":[22],"prestressed":[24],"cable-driven":[25],"mechanisms":[26],"in":[27,91],"singular":[28],"configurations":[29],"to":[30],"provide":[31],"large":[32,95],"variation":[34],"ranges,":[35],"including":[36],"zero":[37],"configuration":[39],"as":[40],"required":[41],"by":[42],"medical":[44],"context.":[45],"An":[46],"original":[47],"implementation":[48],"proposed,":[50],"with":[51,84,90,122],"prestress":[53],"adjustment":[54],"system":[55,76],"using":[56],"pneumatic":[57],"energy":[58],"and":[59,72,110],"taking":[60],"advantage":[61],"multimaterial":[63],"additive":[64],"manufacturing.":[65],"The":[66,75,100],"proposed":[67],"component":[68],"combines":[69],"compactness,":[70],"MR-compatibility":[71],"lightweight.":[74],"evaluated":[78],"dedicated":[81],"experimental":[82],"setup":[83],"validation":[85],"expected":[88],"behavior,":[89],"particular":[92],"very":[94],"achievable":[96],"range":[97],"stiffnesses.":[99],"approach":[101],"effective":[103],"such":[108],"device":[109],"constitutes":[111],"novel":[113],"solution":[114],"devices":[121],"complex":[123],"motions.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-05T09:29:38.588285","created_date":"2025-10-10T00:00:00"}
