{"id":"https://openalex.org/W2966895203","doi":"https://doi.org/10.1109/icra.2019.8793666","title":"Hydraulically-actuated compliant revolute joint for medical robotic systems based on multimaterial additive manufacturing","display_name":"Hydraulically-actuated compliant revolute joint for medical robotic systems based on multimaterial additive manufacturing","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2966895203","doi":"https://doi.org/10.1109/icra.2019.8793666","mag":"2966895203"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://univoak.eu/islandora/object/islandora%3A84536","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113245487","display_name":"A. Pfeil","orcid":null},"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":"A. Pfeil","raw_affiliation_strings":["ICube, University of Strasbourg - INSA Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICube, University of Strasbourg - INSA Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013031225","display_name":"Marius Siegfarth","orcid":"https://orcid.org/0000-0002-2736-3683"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Siegfarth","raw_affiliation_strings":["Project Group for Automation in Medicine and Biotechnology, Fraunhofer Institute for Manufacturing Engineering and Automation, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Project Group for Automation in Medicine and Biotechnology, Fraunhofer Institute for Manufacturing Engineering and Automation, Mannheim, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070175259","display_name":"Fran\u00e7ois Geiskopf","orcid":null},"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":"F. Geiskopf","raw_affiliation_strings":["ICube, University of Strasbourg - INSA Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICube, University of Strasbourg - INSA Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037127977","display_name":"Tim Pusch","orcid":"https://orcid.org/0000-0002-1938-1961"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T.P. Pusch","raw_affiliation_strings":["Project Group for Automation in Medicine and Biotechnology, Fraunhofer Institute for Manufacturing Engineering and Automation, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Project Group for Automation in Medicine and Biotechnology, Fraunhofer Institute for Manufacturing Engineering and Automation, Mannheim, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018164741","display_name":"Laurent Barb\u00e9","orcid":"https://orcid.org/0000-0002-0226-8903"},"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":"L. Barbe","raw_affiliation_strings":["ICube, University of Strasbourg - INSA Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICube, University of Strasbourg - INSA Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]}]},{"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":"P. Renaud","raw_affiliation_strings":["ICube, University of Strasbourg - INSA Strasbourg, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICube, University of Strasbourg - INSA Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1994,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51075795,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"8401","last_page":"8407"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9983999729156494,"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/revolute-joint","display_name":"Revolute joint","score":0.7533867359161377},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6572525501251221},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5866276025772095},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.580679714679718},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5686906576156616},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.5211644172668457},{"id":"https://openalex.org/keywords/rack","display_name":"Rack","score":0.5174618363380432},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5101469159126282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4205301105976105},{"id":"https://openalex.org/keywords/telescopic-cylinder","display_name":"Telescopic cylinder","score":0.41492316126823425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40562278032302856},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2928456664085388},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2816307544708252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1080421507358551}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7533867359161377},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6572525501251221},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5866276025772095},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.580679714679718},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5686906576156616},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.5211644172668457},{"id":"https://openalex.org/C2776843527","wikidata":"https://www.wikidata.org/wiki/Q1351382","display_name":"Rack","level":2,"score":0.5174618363380432},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5101469159126282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4205301105976105},{"id":"https://openalex.org/C44357349","wikidata":"https://www.wikidata.org/wiki/Q2401966","display_name":"Telescopic cylinder","level":2,"score":0.41492316126823425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40562278032302856},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2928456664085388},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2816307544708252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1080421507358551},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2019.8793666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-555336","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-555336.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IPA","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/405084","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/405084","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"pmh:oai:univoak.eu:islandora_138407","is_oa":false,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A138407","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:univoak.eu:islandora_84536","is_oa":true,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A84536","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:univoak.eu:islandora_84536","is_oa":true,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A84536","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1983119049","https://openalex.org/W1984246138","https://openalex.org/W1984929297","https://openalex.org/W2038540167","https://openalex.org/W2077785908","https://openalex.org/W2140671053","https://openalex.org/W2161995180","https://openalex.org/W2165976175","https://openalex.org/W2414419152","https://openalex.org/W2487875306","https://openalex.org/W2497275036","https://openalex.org/W2539375571","https://openalex.org/W2608547410","https://openalex.org/W2736363026","https://openalex.org/W2765782770","https://openalex.org/W2767139586","https://openalex.org/W2792744836","https://openalex.org/W2802218676","https://openalex.org/W2898623061","https://openalex.org/W2898692592"],"related_works":["https://openalex.org/W2891602905","https://openalex.org/W2245035613","https://openalex.org/W1983395032","https://openalex.org/W2353274003","https://openalex.org/W3119418459","https://openalex.org/W3037666714","https://openalex.org/W2780794226","https://openalex.org/W2375545026","https://openalex.org/W2380307176","https://openalex.org/W2363033003"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3,111],"active":[4,65],"compliant":[5,81,101],"revolute":[6,82],"joint":[7,15,83,102],"actuated":[8],"by":[9],"hydraulic":[10,60,97],"energy":[11],"is":[12,16,55,76],"developed.":[13],"The":[14,37],"made":[17],"of":[18,39,70,89,95,116],"polymer":[19],"for":[20],"integration":[21],"in":[22,27,63,113],"medical":[23],"robotic":[24],"systems,":[25],"even":[26],"a":[28,51,73,80,86],"challenging":[29],"environment":[30],"such":[31],"as":[32,108,110],"Magnetic":[33],"Resonance":[34],"Imaging":[35],"(MRI).":[36],"use":[38],"multimaterial":[40],"additive":[41],"manufacturing":[42],"allows":[43],"us":[44],"to":[45,57,79,84],"develop":[46],"two":[47],"original":[48],"aspects.":[49],"First,":[50],"new":[52],"seal":[53],"design":[54],"proposed":[56],"build":[58],"miniature":[59],"cylinders":[61],"embedded":[62,104],"the":[64,96,100,114],"joint,":[66],"with":[67,103,119],"low":[68],"level":[69,88],"friction.":[71],"Second,":[72],"rack-and-pinion":[74,105],"mechanism":[75],"being":[77],"integrated":[78],"obtain":[85],"high":[87],"compactness.":[90],"Design":[91],"and":[92,99],"experimental":[93],"assessment":[94],"cylinder":[98],"are":[106],"presented,":[107],"well":[109],"illustration":[112],"context":[115],"needle":[117],"manipulation":[118],"passive":[120],"teleoperation.":[121]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
