{"id":"https://openalex.org/W1966705057","doi":"https://doi.org/10.1109/iros.2014.6942899","title":"Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle","display_name":"Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1966705057","doi":"https://doi.org/10.1109/iros.2014.6942899","mag":"1966705057"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5033887596","display_name":"Agostino Stilli","orcid":"https://orcid.org/0000-0002-4904-0500"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Agostino Stilli","raw_affiliation_strings":["King's College London, Centre for Robotics Research, London, United Kingdom","King's College London, Department of Informatics, Centre for Robotics Research, Strand, WC2R 2LS, United Kingdom"],"affiliations":[{"raw_affiliation_string":"King's College London, Centre for Robotics Research, London, United Kingdom","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"King's College London, Department of Informatics, Centre for Robotics Research, Strand, WC2R 2LS, United Kingdom","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062557484","display_name":"Helge W\u00fcrdemann","orcid":"https://orcid.org/0000-0003-3082-146X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Helge A Wurdemann","raw_affiliation_strings":["King's College London, Centre for Robotics Research, London, United Kingdom","King's College London, Department of Informatics, Centre for Robotics Research, Strand, WC2R 2LS, United Kingdom"],"affiliations":[{"raw_affiliation_string":"King's College London, Centre for Robotics Research, London, United Kingdom","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"King's College London, Department of Informatics, Centre for Robotics Research, Strand, WC2R 2LS, United Kingdom","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["King's College London, Centre for Robotics Research, London, United Kingdom","King's College London, Department of Informatics, Centre for Robotics Research, Strand, WC2R 2LS, United Kingdom"],"affiliations":[{"raw_affiliation_string":"King's College London, Centre for Robotics Research, London, United Kingdom","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"King's College London, Department of Informatics, Centre for Robotics Research, Strand, WC2R 2LS, United Kingdom","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033887596"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":5.9641,"has_fulltext":false,"cited_by_count":139,"citation_normalized_percentile":{"value":0.96553874,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2476","last_page":"2481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9976999759674072,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6236513257026672},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6098053455352783},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.579273521900177},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5653123259544373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5142669081687927},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43606263399124146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33286145329475403},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3279244899749756},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2994137704372406},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16346681118011475},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16211184859275818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13936102390289307},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10379138588905334}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6236513257026672},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6098053455352783},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.579273521900177},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5653123259544373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5142669081687927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43606263399124146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33286145329475403},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3279244899749756},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2994137704372406},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16346681118011475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16211184859275818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13936102390289307},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10379138588905334}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2014.6942899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1479257","is_oa":false,"landing_page_url":"http://discovery.ucl.ac.uk/1479257/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:   (Proceedings) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 2476-2481).  IEEE (2014)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/fa839580-f7f6-4eef-8b1c-79903d765223","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/fa839580-f7f6-4eef-8b1c-79903d765223","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Stilli, A, Wurdemann, H A & Althoefer, K 2014, Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942899, pp. 2476-2481, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/2014. https://doi.org/10.1109/IROS.2014.6942899","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W65677105","https://openalex.org/W1891615552","https://openalex.org/W1984831423","https://openalex.org/W1985060396","https://openalex.org/W1985934131","https://openalex.org/W1989710690","https://openalex.org/W1992020923","https://openalex.org/W1997060717","https://openalex.org/W1997480144","https://openalex.org/W2014502771","https://openalex.org/W2015106839","https://openalex.org/W2032973306","https://openalex.org/W2035705728","https://openalex.org/W2041673364","https://openalex.org/W2049511808","https://openalex.org/W2052900904","https://openalex.org/W2059586757","https://openalex.org/W2059944434","https://openalex.org/W2070122598","https://openalex.org/W2072293370","https://openalex.org/W2130685575","https://openalex.org/W2140790068","https://openalex.org/W2146461823","https://openalex.org/W2147492425","https://openalex.org/W2153566745","https://openalex.org/W2161409436","https://openalex.org/W2162646641","https://openalex.org/W2164418635","https://openalex.org/W3141952980","https://openalex.org/W6602681392","https://openalex.org/W6661008162","https://openalex.org/W6680918127"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W585100505","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2967125373"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"a":[3,14,39,99,184],"new":[4,141],"hybrid":[5],"actuation":[6,23,30,34,37],"principle":[7],"combining":[8],"pneumatic":[9,33,126],"and":[10,75,107,115,125,129,163,176],"tendon-driven":[11,124],"actuators":[12],"for":[13],"soft":[15,207],"robotic":[16],"manipulator.":[17,208],"The":[18,117],"fusion":[19],"of":[20,68,89,123,205],"these":[21],"two":[22],"principles":[24],"leads":[25],"to":[26,51,65,81,154,183,193,216,218,223,229],"an":[27,146],"overall":[28],"antagonistic":[29],"mechanism":[31,40],"whereby":[32],"opposes":[35],"tendon":[36],"-":[38],"commonly":[41],"found":[42],"in":[43,78,166],"animals":[44],"where":[45],"muscles":[46,77],"can":[47,93,137,150,180],"oppose":[48],"each":[49],"other":[50],"vary":[52,230],"joint":[53],"stiffness.":[54,232],"We":[55],"are":[56],"taking":[57],"especially":[58],"inspiration":[59],"from":[60,220],"the":[61,66,70,91,95,121,140,167,178,202,206,213],"octopus":[62,71,92],"who":[63],"belongs":[64],"class":[67],"Cephalopoda;":[69],"uses":[72],"its":[73,79,155,173,194,231],"longitudinal":[74],"transversal":[76],"arms":[80],"achieve":[82],"varied":[83],"motion":[84,110],"patterns;":[85],"activating":[86],"both":[87],"sets":[88],"muscles,":[90],"control":[94],"arm":[96],"stiffness":[97],"over":[98],"wide":[100],"range.":[101],"Our":[102],"approach":[103],"mimics":[104],"this":[105,198],"behavior":[106],"achieves":[108],"comparable":[109],"patterns,":[111],"including":[112],"bending,":[113],"elongation":[114],"stiffening.":[116],"proposed":[118],"method":[119],"combines":[120],"advantages":[122],"actuated":[127],"systems":[128],"goes":[130],"beyond":[131],"what":[132],"current":[133],"soft,":[134],"flexible":[135],"robots":[136],"achieve:":[138],"because":[139],"robot":[142,179],"structure":[143,204],"is":[144],"effectively":[145],"inflatable,":[147],"sleeve,":[148],"it":[149,170],"be":[151,181],"pumped":[152],"up":[153],"fully":[156],"inflated":[157,225],"volume":[158],"and,":[159],"also,":[160],"completely":[161,221],"deflated":[162,168],"shrunk.":[164],"Since,":[165],"state,":[169],"comprises":[171],"just":[172],"outer":[174],"\u201cskin\u201d":[175],"tendons,":[177],"compressed":[182],"very":[185],"small":[186],"size,":[187],"many":[188],"times":[189],"smaller":[190],"when":[191],"compared":[192],"fully-inflated":[195],"state.":[196],"In":[197],"paper,":[199],"we":[200],"describe":[201],"mechanical":[203],"Proof-of-concept":[209],"experiments":[210],"focus":[211],"on":[212],"robot's":[214],"ability":[215],"bend,":[217],"morph":[219],"shrunk":[222],"entirely":[224],"as":[226,228],"well":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":11}],"updated_date":"2026-04-20T07:46:08.049788","created_date":"2025-10-10T00:00:00"}