{"id":"https://openalex.org/W2013195385","doi":"https://doi.org/10.1109/iros.2012.6385966","title":"Design of soft robotic actuators using fluid-filled fiber-reinforced elastomeric enclosures in parallel combinations","display_name":"Design of soft robotic actuators using fluid-filled fiber-reinforced elastomeric enclosures in parallel combinations","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2013195385","doi":"https://doi.org/10.1109/iros.2012.6385966","mag":"2013195385"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5083035957","display_name":"Joshua Bishop-Moser","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joshua Bishop-Moser","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050432620","display_name":"Girish Krishnan","orcid":"https://orcid.org/0000-0002-1005-2862"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Krishnan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006272844","display_name":"Charles Kim","orcid":"https://orcid.org/0000-0002-8687-1522"},"institutions":[{"id":"https://openalex.org/I131221577","display_name":"Bucknell University","ror":"https://ror.org/00fc1qt65","country_code":"US","type":"education","lineage":["https://openalex.org/I131221577"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Bucknell University, Lewisburg, PA, USA","Department of Mechanical Engineering, Bucknell University, Lewisberg, PA 17837, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bucknell University, Lewisburg, PA, USA","institution_ids":["https://openalex.org/I131221577"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Bucknell University, Lewisberg, PA 17837, USA","institution_ids":["https://openalex.org/I131221577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086947674","display_name":"Sridhar Kota","orcid":"https://orcid.org/0000-0001-5007-345X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sridhar Kota","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Michigan Ann Arbor, 48109 (USA)","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083035957"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":4.6391,"has_fulltext":false,"cited_by_count":108,"citation_normalized_percentile":{"value":0.94882088,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4264","last_page":"4269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9955999851226807,"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":0.9825000166893005,"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/actuator","display_name":"Actuator","score":0.8183783292770386},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.810992419719696},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.6021433472633362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5982340574264526},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5737408995628357},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47132566571235657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4671788811683655},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.44539549946784973},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38524794578552246},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.35411107540130615},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2914159297943115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26959744095802307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22946590185165405},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1903163194656372},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.08131152391433716}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8183783292770386},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.810992419719696},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.6021433472633362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5982340574264526},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5737408995628357},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47132566571235657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4671788811683655},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.44539549946784973},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38524794578552246},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.35411107540130615},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2914159297943115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26959744095802307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22946590185165405},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1903163194656372},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.08131152391433716}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.75,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2048325583","https://openalex.org/W2101667962","https://openalex.org/W2108358935","https://openalex.org/W2135485145","https://openalex.org/W2137327525","https://openalex.org/W2146055165","https://openalex.org/W4246878719","https://openalex.org/W4251181231","https://openalex.org/W6681722231"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W3161089714","https://openalex.org/W3112293155","https://openalex.org/W4385439013","https://openalex.org/W4213066075","https://openalex.org/W4296449477","https://openalex.org/W4312732386"],"abstract_inverted_index":{"Complex":[0],"controlled":[1],"motions,":[2],"soft":[3,15],"human":[4],"interaction,":[5],"and":[6,77,151,158],"minimal":[7],"moving":[8],"mass":[9],"all":[10,101],"drive":[11],"the":[12,85,94,156],"need":[13],"for":[14,134,153],"robots":[16],"using":[17],"fluid":[18],"filled":[19],"fiber":[20],"reinforced":[21],"elastomer":[22],"enclosures":[23],"(FREEs).":[24],"While":[25],"a":[26,41,63,106,115,125,135],"narrow":[27],"class":[28,44],"of":[29,48,68,75,79,96,108,111,138,155],"FREEs":[30],"known":[31],"as":[32],"McKibben's":[33],"actuators":[34,53,70,99,112],"have":[35],"been":[36],"extensively":[37],"studied,":[38],"there":[39],"is":[40,71],"wide":[42],"unexplored":[43],"with":[45],"complex":[46],"sets":[47,110],"motion":[49,59,139,160],"patterns.":[50,140],"Combining":[51],"these":[52],"in":[54,62,82,114,124],"parallel":[55],"can":[56],"yield":[57],"versatile":[58],"patterns":[60],"resulting":[61],"large":[64],"overall":[65],"workspace.":[66],"Mobility":[67],"individual":[69,97,131],"enforced":[72],"by":[73],"inextensibility":[74],"fibers":[76],"incompressibility":[78],"fluids,":[80],"which":[81],"turn":[83],"drives":[84],"net":[86],"attainable":[87],"motions.":[88],"In":[89],"this":[90,147],"paper,":[91],"we":[92],"map":[93],"mobility":[95],"FREE":[98,132],"to":[100],"possible":[102],"resultant":[103],"motions":[104],"that":[105,129,144],"combination":[107],"three":[109],"arranged":[113],"triangular":[116],"configuration":[117],"would":[118],"undergo.":[119],"This":[120],"understanding":[121],"has":[122],"resulted":[123],"preliminary":[126],"design":[127],"tool":[128],"determines":[130],"topologies":[133],"required":[136],"set":[137],"Five":[141],"case":[142],"studies":[143],"result":[145],"from":[146],"methodology":[148],"are":[149],"prototyped":[150],"tested":[152],"comparison":[154],"predicted":[157],"obtained":[159],"directions.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
