{"id":"https://openalex.org/W4401413763","doi":"https://doi.org/10.1109/icra57147.2024.10610729","title":"A Helical Bistable Soft Gripper Enable by Pneumatic Actuation","display_name":"A Helical Bistable Soft Gripper Enable by Pneumatic Actuation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413763","doi":"https://doi.org/10.1109/icra57147.2024.10610729"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5075395158","display_name":"Xuanchun Yin","orcid":"https://orcid.org/0000-0003-0488-0642"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanchun Yin","raw_affiliation_strings":["South China Agricultural University,College of Engineering,Guangzhou,China,510642"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Agricultural University,College of Engineering,Guangzhou,China,510642","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017028760","display_name":"Junliang Xie","orcid":"https://orcid.org/0000-0001-8666-5078"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junliang Xie","raw_affiliation_strings":["South China Agricultural University,College of Engineering,Guangzhou,China,510642"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Agricultural University,College of Engineering,Guangzhou,China,510642","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049933821","display_name":"Pengyu Zhou","orcid":"https://orcid.org/0000-0001-9151-2623"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengyu Zhou","raw_affiliation_strings":["South China Agricultural University,College of Engineering,Guangzhou,China,510642"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Agricultural University,College of Engineering,Guangzhou,China,510642","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101922962","display_name":"Sheng Wen","orcid":"https://orcid.org/0000-0002-3035-1114"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Wen","raw_affiliation_strings":["South China Agricultural University,College of Engineering,Guangzhou,China,510642"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Agricultural University,College of Engineering,Guangzhou,China,510642","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100781678","display_name":"Jiantao Zhang","orcid":"https://orcid.org/0000-0002-1646-2643"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiantao Zhang","raw_affiliation_strings":["South China Agricultural University,College of Mathematics and Informatics,Guangzhou,China,510642"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"South China Agricultural University,College of Mathematics and Informatics,Guangzhou,China,510642","institution_ids":["https://openalex.org/I101479585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I101479585"],"apc_list":null,"apc_paid":null,"fwci":0.477,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59528598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8807","last_page":"8813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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/T10868","display_name":"Soft Robotics and Applications","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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/bistability","display_name":"Bistability","score":0.8516272306442261},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.678070068359375},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4580577313899994},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45574238896369934},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4301387071609497},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4010489583015442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39516472816467285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23280033469200134},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.16363704204559326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11749911308288574}],"concepts":[{"id":"https://openalex.org/C97292510","wikidata":"https://www.wikidata.org/wiki/Q2304620","display_name":"Bistability","level":2,"score":0.8516272306442261},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.678070068359375},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4580577313899994},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45574238896369934},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4301387071609497},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4010489583015442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39516472816467285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23280033469200134},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.16363704204559326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11749911308288574}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8299999833106995,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1994987822","https://openalex.org/W2012458690","https://openalex.org/W2027454283","https://openalex.org/W2130118109","https://openalex.org/W2296718990","https://openalex.org/W2561418509","https://openalex.org/W2769379857","https://openalex.org/W2791272065","https://openalex.org/W2810345776","https://openalex.org/W2883408812","https://openalex.org/W2910088338","https://openalex.org/W2972391986","https://openalex.org/W2981795224","https://openalex.org/W2983020220","https://openalex.org/W3094904128","https://openalex.org/W3113305461","https://openalex.org/W3184770643","https://openalex.org/W3198476225","https://openalex.org/W4206202537","https://openalex.org/W4212805852","https://openalex.org/W4213431490","https://openalex.org/W4224212612","https://openalex.org/W4226071493","https://openalex.org/W4253735485","https://openalex.org/W4285185793","https://openalex.org/W4291815111","https://openalex.org/W4292387290","https://openalex.org/W4315619123"],"related_works":["https://openalex.org/W2004196108","https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2773810465","https://openalex.org/W2123055169","https://openalex.org/W1978574942","https://openalex.org/W2619747063","https://openalex.org/W1502247793","https://openalex.org/W4224212509","https://openalex.org/W2585261412"],"abstract_inverted_index":{"There":[0],"are":[1,8,110],"many":[2],"instances":[3],"of":[4,98,107,136,163,171,178],"helical":[5,25,33,61],"mechanisms":[6],"that":[7],"used":[9],"to":[10,63,82,132,159,175],"efficiently":[11],"grasp":[12],"different":[13,164,196],"objects":[14,70,162],"with":[15,37,166],"various":[16,160],"shapes":[17],"and":[18,41,67,103,152,155,193,198],"sizes":[19],"in":[20,27,112,139,181,206],"nature.":[21],"Inspired":[22],"by":[23],"the":[24,28,51,69,80,84,87,99,104,108,121,134,137,185,199,207],"grasping":[26,201,208],"nature,":[29],"we":[30,129],"proposed":[31],"a":[32,57,95,113,167,190],"bistable":[34,46],"soft":[35,60],"gripper":[36,93,100,109,138,144,186],"high":[38],"load":[39],"capacity":[40],"energy":[42,72],"saving.":[43],"An":[44],"off-the-shelf":[45],"steel":[47],"shell":[48],"(BSS)":[49],"as":[50,79],"stiff":[52],"element":[53],"was":[54,101,187],"inserted":[55],"into":[56,189],"3D":[58],"printing":[59],"exoskeleton":[62],"achieve":[64],"coiling":[65,146],"around":[66],"holding":[68,169],"without":[71],"consumption.":[73],"Two":[74],"air":[75],"pouches":[76],"were":[77,125],"designed":[78],"actuator":[81],"control":[83],"transition":[85,118],"between":[86,120,149],"two":[88,122,140],"stable":[89,123],"states.":[90],"To":[91],"facilitate":[92],"design,":[94],"simplified":[96],"model":[97],"conducted,":[102],"geometric":[105],"parameters":[106],"listed":[111],"table":[114],"for":[115],"reference.":[116],"The":[117,143],"pressures":[119],"states":[124],"experimentally":[126],"characterized.":[127],"Moreover,":[128],"conduct":[130],"experiments":[131],"demonstrate":[133],"capability":[135],"working":[141],"modes.":[142],"exhibits":[145],"diameters":[147],"ranging":[148],"40":[150],"mm":[151,154],"60":[153],"is":[156,203],"successfully":[157,194],"attached":[158],"slender":[161],"geometries":[165],"maximum":[168,200],"force":[170],"92.67":[172],"N":[173],"(up":[174],"135.1":[176],"times":[177],"its":[179],"mass)":[180],"hanging":[182],"mode.":[183,209],"Finally,":[184],"integrated":[188],"robot":[191],"arm":[192],"grasped":[195],"objects,":[197],"weight":[202],"221.6":[204],"g":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}