{"id":"https://openalex.org/W2737812861","doi":"https://doi.org/10.1109/icra.2017.7989500","title":"Design, modeling and control of a SMA-actuated biomimetic robot with novel functional skin","display_name":"Design, modeling and control of a SMA-actuated biomimetic robot with novel functional skin","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737812861","doi":"https://doi.org/10.1109/icra.2017.7989500","mag":"2737812861"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989500","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 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/A5054137266","display_name":"Joan Ortega Alcaide","orcid":"https://orcid.org/0000-0002-1363-4139"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joan Ortega Alcaide","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026334856","display_name":"Levi Pearson","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Levi Pearson","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041822706","display_name":"Mark E. Rentschler","orcid":"https://orcid.org/0000-0002-5901-8358"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark E. Rentschler","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, US","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":3.0043,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.92100516,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4338","last_page":"4345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9865999817848206,"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/robot","display_name":"Robot","score":0.5639777183532715},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5139629244804382},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46899130940437317},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4638635516166687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44129064679145813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44010522961616516},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.43588513135910034},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4104011058807373},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3351370692253113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2151651680469513}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5639777183532715},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5139629244804382},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46899130940437317},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4638635516166687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44129064679145813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44010522961616516},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.43588513135910034},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4104011058807373},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3351370692253113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2151651680469513},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989500","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 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":24,"referenced_works":["https://openalex.org/W159703349","https://openalex.org/W1195022194","https://openalex.org/W1970920667","https://openalex.org/W1973013136","https://openalex.org/W1982885038","https://openalex.org/W1985887683","https://openalex.org/W2038717668","https://openalex.org/W2047370791","https://openalex.org/W2050317016","https://openalex.org/W2057390212","https://openalex.org/W2061006952","https://openalex.org/W2063720443","https://openalex.org/W2064395125","https://openalex.org/W2065598227","https://openalex.org/W2071188031","https://openalex.org/W2079635050","https://openalex.org/W2093836884","https://openalex.org/W2097421663","https://openalex.org/W2107560398","https://openalex.org/W2131560012","https://openalex.org/W2135007314","https://openalex.org/W2148250104","https://openalex.org/W2170552969","https://openalex.org/W6627846527"],"related_works":["https://openalex.org/W1971393305","https://openalex.org/W3098904880","https://openalex.org/W2132872602","https://openalex.org/W2084872199","https://openalex.org/W2540667912","https://openalex.org/W4323322981","https://openalex.org/W2981530190","https://openalex.org/W2892024203","https://openalex.org/W4321766479","https://openalex.org/W1963014672"],"abstract_inverted_index":{"Traditional":[0],"colonoscopy":[1],"requires":[2],"highly":[3],"trained":[4],"personnel":[5],"to":[6,60,95,99,113,141,170,210,235],"be":[7],"performed.":[8],"Additionally,":[9],"current":[10],"devices":[11],"may":[12],"cause":[13],"discomfort":[14],"and":[15,37,51,84,132,160,176,181,198,223,242],"carry":[16],"the":[17,21,41,64,68,91,97,118,122,129,165,168,195,199,202],"risk":[18],"of":[19,40,47,121,164,201,218,227,251,253],"perforating":[20],"bowel":[22],"wall.":[23],"In":[24],"this":[25],"paper,":[26],"a":[27,57,85,212],"soft":[28],"three":[29,45,106],"modular":[30],"section":[31,231],"robot":[32,55,71,169,203,207],"is":[33,139,158,208,232],"designed,":[34],"modeled,":[35],"controlled":[36,75],"tested.":[38,205],"Each":[39,230],"robotic":[42],"sections":[43,166],"has":[44],"degrees":[46],"freedom,":[48],"one":[49,109],"translation":[50],"two":[52],"rotations.":[53],"The":[54,70,206],"uses":[56,72],"peristaltic":[58,196,213],"motion":[59,65,197,214],"translate,":[61],"inspired":[62],"by":[63,67],"generated":[66],"bowel.":[69],"nine":[73],"independently":[74],"Shape":[76],"Memory":[77],"Alloy":[78],"(SMA)":[79],"springs":[80,98],"as":[81],"its":[82],"actuators":[83],"novel":[86],"silicone":[87],"rubber":[88],"skin":[89,130],"provides":[90],"passive":[92],"recovery":[93,147],"force":[94],"expand":[96],"their":[100],"original":[101],"state.":[102],"It":[103],"also":[104,233],"incorporates":[105],"air":[107],"tubes,":[108],"for":[110,162],"each":[111,163],"section,":[112],"provide":[114],"forced":[115],"convection":[116],"reducing":[117],"cooling":[119],"time":[120],"SMA":[123],"springs.":[124],"A":[125,149],"parametric":[126],"study":[127],"on":[128,155],"curvature":[131],"thickness":[133],"using":[134],"Finite":[135],"Element":[136],"Analysis":[137],"(FEA)":[138],"performed":[140],"maximize":[142],"traction":[143],"while":[144],"providing":[145],"enough":[146],"force.":[148],"multi-input":[150,248],"multi-output":[151],"(MIMO)":[152],"controller":[153],"based":[154],"fuzzy":[156],"control":[157],"designed":[159],"implemented":[161],"allowing":[167],"achieve":[171],"any":[172],"orientation":[173],"between":[174],"\u221290\u00b0":[175],"+90\u00b0":[177],"in":[178,183],"both":[179],"pitch":[180],"roll":[182],"less":[184,238],"than":[185,239],"4":[186,219],"seconds":[187],"with":[188,215,237],"near":[189,243],"zero":[190,244],"steady":[191],"state":[192],"error.":[193],"Both":[194],"orientability":[200],"are":[204],"able":[209,234],"perform":[211],"maximum":[216],"speed":[217,226],"mm/s":[220],"(24":[221],"cm/min)":[222],"an":[224],"average":[225],"2.2":[228],"cm/min.":[229],"follow,":[236],"2%":[240],"overshoot":[241],"steady-state":[245],"error,":[246],"periodic":[247],"squared":[249],"signals":[250],"25\u00b0":[252],"amplitude.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
