{"id":"https://openalex.org/W3089687466","doi":"https://doi.org/10.1109/icra40945.2020.9197401","title":"Pressure-Driven Manipulator with Variable Stiffness Structure","display_name":"Pressure-Driven Manipulator with Variable Stiffness Structure","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089687466","doi":"https://doi.org/10.1109/icra40945.2020.9197401","mag":"3089687466"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5069315167","display_name":"Canberk Sozer","orcid":"https://orcid.org/0000-0003-3049-0824"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Canberk Sozer","raw_affiliation_strings":["The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062241830","display_name":"Linda Patern\u00f2","orcid":"https://orcid.org/0000-0002-6318-4033"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Linda Paterno","raw_affiliation_strings":["The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076284302","display_name":"Giuseppe Tortora","orcid":"https://orcid.org/0000-0003-4865-310X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Tortora","raw_affiliation_strings":["The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arianna Menciassi","raw_affiliation_strings":["The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy"],"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna Pisa, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069315167"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":1.1282,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.75781724,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"696","last_page":"702"},"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":0.9961000084877014,"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":0.9771999716758728,"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/controllability","display_name":"Controllability","score":0.8645151257514954},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7968468070030212},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5673179626464844},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5506677627563477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5188325643539429},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47162914276123047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4576714038848877},{"id":"https://openalex.org/keywords/predictability","display_name":"Predictability","score":0.45501697063446045},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4238382875919342},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.34272104501724243},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32938623428344727},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3227831721305847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2069673240184784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10818275809288025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07526853680610657}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8645151257514954},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7968468070030212},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5673179626464844},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5506677627563477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188325643539429},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47162914276123047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4576714038848877},{"id":"https://openalex.org/C197640229","wikidata":"https://www.wikidata.org/wiki/Q2534066","display_name":"Predictability","level":2,"score":0.45501697063446045},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4238382875919342},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.34272104501724243},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32938623428344727},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3227831721305847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2069673240184784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10818275809288025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07526853680610657},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/534430","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/534430","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1847353717","https://openalex.org/W1902605501","https://openalex.org/W1966705057","https://openalex.org/W1984999629","https://openalex.org/W1987862454","https://openalex.org/W2054628872","https://openalex.org/W2068577042","https://openalex.org/W2165479823","https://openalex.org/W2169100281","https://openalex.org/W2296339875","https://openalex.org/W2518073382","https://openalex.org/W2520982900","https://openalex.org/W2521929921","https://openalex.org/W2608405054","https://openalex.org/W2626557286","https://openalex.org/W2737894857","https://openalex.org/W2771636580","https://openalex.org/W2895204702","https://openalex.org/W2904797364","https://openalex.org/W2965723525","https://openalex.org/W2966400897","https://openalex.org/W2977728141","https://openalex.org/W2989597069","https://openalex.org/W2991460789","https://openalex.org/W3005388788","https://openalex.org/W3103936202","https://openalex.org/W6770906275"],"related_works":["https://openalex.org/W2726467123","https://openalex.org/W2036697162","https://openalex.org/W2140812588","https://openalex.org/W2411113819","https://openalex.org/W2064726690","https://openalex.org/W2072887367","https://openalex.org/W4252678288","https://openalex.org/W4254065731","https://openalex.org/W2332386680","https://openalex.org/W2561315646"],"abstract_inverted_index":{"The":[0,122],"high":[1],"deformability":[2],"and":[3,23,32,48,73,90,107,134,146],"compliance":[4],"of":[5,30,53,67,82,92,116,158],"soft":[6],"robots":[7],"allow":[8],"safer":[9],"interaction":[10],"with":[11],"the":[12,15,44,51,93,98,103,111,114,117,128,156,159],"environment.":[13],"On":[14],"other":[16],"hand,":[17],"these":[18],"advantages":[19],"bring":[20],"along":[21],"controllability":[22,89],"predictability":[24,91],"challenges":[25,36],"which":[26,65],"result":[27],"in":[28,40],"loss":[29],"force":[31],"stiffness":[33,77,115,130],"output.":[34],"Such":[35],"should":[37],"be":[38],"addressed":[39],"order":[41],"to":[42,49,126,154],"improve":[43],"overall":[45],"functional":[46],"performance":[47],"meet":[50],"requirements":[52],"real-scenario":[54],"applications.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"present":[60,155],"a":[61,74],"bidirectional":[62],"in-plane":[63],"manipulator":[64,94,118,129],"consists":[66],"two":[68],"unidirectional":[69],"fiber-reinforced":[70],"actuators":[71],"(FRAs)":[72],"hybrid":[75,99],"soft-rigid":[76,100],"control":[78],"structure":[79],"(SCS),":[80],"all":[81],"them":[83],"controlled":[84],"by":[85,97,131],"air":[86],"pressure.":[87],"Both":[88],"are":[95,151],"enhanced":[96],"structure.":[101],"While":[102],"FRAs":[104],"provide":[105],"positioning":[106],"position":[108,120],"dependent":[109],"stiffness,":[110],"SCS":[112,123],"increases":[113],"without":[119],"dependency.":[121],"is":[124,139],"able":[125],"increase":[127],"35%,":[132],"30%,":[133],"18%,":[135],"when":[136],"one":[137],"FRA":[138],"pressurized":[140],"at":[141],"150":[142],"kPa,":[143,145,148],"75":[144],"0":[147],"respectively.":[149],"Experiments":[150],"carried":[152],"out":[153],"feasibility":[157],"proposed":[160],"manipulator.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-13T14:20:09.374765","created_date":"2025-10-10T00:00:00"}