{"id":"https://openalex.org/W1984929297","doi":"https://doi.org/10.1109/iros.2014.6942946","title":"A low-friction passive fluid transmission and fluid-tendon soft actuator","display_name":"A low-friction passive fluid transmission and fluid-tendon soft actuator","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1984929297","doi":"https://doi.org/10.1109/iros.2014.6942946","mag":"1984929297"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942946","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/A5066419167","display_name":"John P. Whitney","orcid":"https://orcid.org/0000-0002-5317-0228"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John P. Whitney","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA","Disney Research, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061820022","display_name":"Matthew Glisson","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew F. Glisson","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA","Disney Research, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017750168","display_name":"Eric Brockmeyer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric L. Brockmeyer","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA","Disney Research, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011498939","display_name":"Jessica K. Hodgins","orcid":"https://orcid.org/0000-0002-1778-883X"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessica K. Hodgins","raw_affiliation_strings":["Disney Research, Carnegie Mellon University, Pittsburgh, PA, USA","Disney Research, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I4210142140"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066419167"],"corresponding_institution_ids":["https://openalex.org/I4210142140"],"apc_list":null,"apc_paid":null,"fwci":4.1102,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.93900552,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2801","last_page":"2808"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9972000122070312,"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":0.6802014708518982},{"id":"https://openalex.org/keywords/stiction","display_name":"Stiction","score":0.6685117483139038},{"id":"https://openalex.org/keywords/working-fluid","display_name":"Working fluid","score":0.5605024099349976},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5301759243011475},{"id":"https://openalex.org/keywords/diaphragm","display_name":"Diaphragm (acoustics)","score":0.5185683369636536},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.49039530754089355},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4736265540122986},{"id":"https://openalex.org/keywords/lubrication","display_name":"Lubrication","score":0.4432269036769867},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3717269003391266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32715797424316406},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3269636034965515},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.25424107909202576},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.20238375663757324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.17561081051826477},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.16628289222717285},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14211741089820862},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13511285185813904}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6802014708518982},{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.6685117483139038},{"id":"https://openalex.org/C2779301550","wikidata":"https://www.wikidata.org/wiki/Q217236","display_name":"Working fluid","level":2,"score":0.5605024099349976},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5301759243011475},{"id":"https://openalex.org/C164292776","wikidata":"https://www.wikidata.org/wiki/Q5271779","display_name":"Diaphragm (acoustics)","level":3,"score":0.5185683369636536},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.49039530754089355},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4736265540122986},{"id":"https://openalex.org/C184608416","wikidata":"https://www.wikidata.org/wiki/Q1455803","display_name":"Lubrication","level":2,"score":0.4432269036769867},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3717269003391266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32715797424316406},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3269636034965515},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.25424107909202576},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.20238375663757324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.17561081051826477},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.16628289222717285},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14211741089820862},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13511285185813904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942946","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1480220726","https://openalex.org/W1513008436","https://openalex.org/W1516715816","https://openalex.org/W1554436968","https://openalex.org/W1979445726","https://openalex.org/W2071998354","https://openalex.org/W2073407198","https://openalex.org/W2111253117","https://openalex.org/W2123864353","https://openalex.org/W2124641719","https://openalex.org/W2133076227","https://openalex.org/W2137011683","https://openalex.org/W2271918376","https://openalex.org/W2401433816","https://openalex.org/W6679776363"],"related_works":["https://openalex.org/W2344555939","https://openalex.org/W2625047220","https://openalex.org/W1969392085","https://openalex.org/W2328303680","https://openalex.org/W2064815992","https://openalex.org/W2947832509","https://openalex.org/W2522689825","https://openalex.org/W2104080258","https://openalex.org/W2106563819","https://openalex.org/W58074654"],"abstract_inverted_index":{"We":[0,114],"present":[1,116],"a":[2,23,43,117,152],"passive":[3,25,153],"fluid":[4,16],"transmission":[5,15,74,94,154],"based":[6],"on":[7],"antagonist":[8],"pairs":[9],"of":[10,42,109,145],"rolling":[11,122],"diaphragm":[12,123],"cylinders.":[13],"The":[14],"working":[17,91],"volume":[18],"is":[19,75,95,103,124],"completely":[20],"sealed,":[21],"forming":[22],"closed,":[24],"system,":[26],"ensuring":[27],"input-output":[28],"symmetry":[29],"and":[30,54,77,82,101,140,151],"complete":[31],"backdrivability.":[32],"Rolling":[33],"diaphragm-sealed":[34],"cylinders":[35],"provide":[36],"leak-free":[37],"operation":[38,53],"without":[39],"the":[40,59,64,98,121],"stiction":[41,102],"traditional":[44],"sliding":[45],"seal.":[46],"Fluid":[47],"pressure":[48],"preloading":[49],"allows":[50],"for":[51,79],"bidirectional":[52],"also":[55,115],"serves":[56],"to":[57,105],"preload":[58],"gears":[60],"or":[61,88,112],"belts":[62],"in":[63],"linear-to-rotary":[65],"output":[66],"coupler,":[67],"eliminating":[68],"system":[69],"backlash":[70],"end-to-end.":[71],"A":[72],"prototype":[73],"built":[76],"tested":[78],"stiffness,":[80],"bandwidth,":[81],"frictional":[83],"properties":[84],"using":[85,157],"either":[86],"air":[87],"water":[89],"as":[90],"fluids.":[92],"Torque":[93],"smooth":[96],"over":[97],"entire":[99],"stroke":[100],"measured":[104],"be":[106,142],"one":[107],"percent":[108],"full-range":[110],"torque":[111],"less.":[113],"tendon-coupled":[118],"design":[119,131],"where":[120],"inverted":[125],"from":[126],"its":[127],"normal":[128],"orientation;":[129],"this":[130,158],"does":[132],"not":[133],"require":[134],"shaft":[135],"support":[136],"bushings,":[137],"tolerates":[138],"misalignment,":[139],"can":[141],"made":[143],"out":[144],"substantially":[146],"soft":[147,160],"materials.":[148],"Actuator":[149],"units":[150],"are":[155],"demonstrated":[156],"new":[159],"cylinder":[161],"design.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}