{"id":"https://openalex.org/W2207363299","doi":"https://doi.org/10.1109/iros.2015.7353508","title":"SpineMan: Design of a soft robotic spine-like manipulator for safe human-robot interaction","display_name":"SpineMan: Design of a soft robotic spine-like manipulator for safe human-robot interaction","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2207363299","doi":"https://doi.org/10.1109/iros.2015.7353508","mag":"2207363299"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5006265874","display_name":"Gundula Runge","orcid":"https://orcid.org/0000-0002-3942-7779"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gundula Runge","raw_affiliation_strings":["Institute of Assembly Technology, Leibniz Universitat Hannover, Garbsen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Assembly Technology, Leibniz Universitat Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000914786","display_name":"Tobias Preller","orcid":"https://orcid.org/0000-0001-8979-6225"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Preller","raw_affiliation_strings":["Institute for Particle Technology, Technische Universitat Braunschweig, Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Particle Technology, Technische Universitat Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072209428","display_name":"Sabrina Zellmer","orcid":"https://orcid.org/0000-0001-9911-2720"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sabrina Zellmer","raw_affiliation_strings":["Institute for Particle Technology, Technische Universitat Braunschweig, Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Particle Technology, Technische Universitat Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031123892","display_name":"Sebastian Blankemeyer","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Blankemeyer","raw_affiliation_strings":["Institute of Assembly Technology, Leibniz Universitat Hannover, Garbsen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Assembly Technology, Leibniz Universitat Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062427525","display_name":"Marian Kreuz","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marian Kreuz","raw_affiliation_strings":["Leibniz Universitat Hannover"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz Universitat Hannover","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081969138","display_name":"Georg Garnweitner","orcid":"https://orcid.org/0000-0002-7499-4947"},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Garnweitner","raw_affiliation_strings":["Institute for Particle Technology, Technische Universitat Braunschweig, Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Particle Technology, Technische Universitat Braunschweig, Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032319988","display_name":"Annika Raatz","orcid":"https://orcid.org/0000-0002-1697-1907"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Annika Raatz","raw_affiliation_strings":["Institute of Assembly Technology, Leibniz Universitat Hannover, Garbsen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Assembly Technology, Leibniz Universitat Hannover, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5457,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.68767823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1103","last_page":"1110"},"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":0.9947999715805054,"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":0.9915000200271606,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7932218313217163},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7077202200889587},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6749982833862305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5383006930351257},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5229631066322327},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5044058561325073},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.4871082305908203},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4366896152496338},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40679430961608887},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3962518274784088},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3371928930282593},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.1299925148487091},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.12050867080688477},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08924072980880737}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7932218313217163},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7077202200889587},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6749982833862305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5383006930351257},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5229631066322327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5044058561325073},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.4871082305908203},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4366896152496338},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40679430961608887},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3962518274784088},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3371928930282593},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.1299925148487091},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.12050867080688477},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08924072980880737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.41999998688697815,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334763","display_name":"Leibniz-Gemeinschaft","ror":"https://ror.org/01n6r0e97"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W129492904","https://openalex.org/W613747976","https://openalex.org/W1508397200","https://openalex.org/W1826399803","https://openalex.org/W1943058301","https://openalex.org/W1965704223","https://openalex.org/W1969107377","https://openalex.org/W1986093704","https://openalex.org/W1991723882","https://openalex.org/W1992812695","https://openalex.org/W1993987935","https://openalex.org/W2005440309","https://openalex.org/W2029744358","https://openalex.org/W2033910955","https://openalex.org/W2034973407","https://openalex.org/W2037867075","https://openalex.org/W2055471201","https://openalex.org/W2071188031","https://openalex.org/W2076098051","https://openalex.org/W2079574144","https://openalex.org/W2089124524","https://openalex.org/W2090864010","https://openalex.org/W2105199683","https://openalex.org/W2124992704","https://openalex.org/W2138447034","https://openalex.org/W2151835733","https://openalex.org/W2156218502","https://openalex.org/W2170584537","https://openalex.org/W2321616119","https://openalex.org/W2519642176","https://openalex.org/W4214697106","https://openalex.org/W4238351031","https://openalex.org/W4250828520","https://openalex.org/W4285719527","https://openalex.org/W6619025337","https://openalex.org/W6668412148","https://openalex.org/W6669651790","https://openalex.org/W6675939345"],"related_works":["https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W3134474396","https://openalex.org/W4211124276","https://openalex.org/W1515749184","https://openalex.org/W4367041227","https://openalex.org/W2806506062","https://openalex.org/W4285221039","https://openalex.org/W3190856263","https://openalex.org/W4312269480"],"abstract_inverted_index":{"Robots":[0],"made":[1,183],"from":[2,12,184],"soft":[3,31,105,123,164,187],"materials":[4],"have":[5],"recently":[6],"captured":[7],"the":[8,74,118,158,161,171],"interest":[9],"of":[10,15,30,76,80,104,113,117,140,160,173,180,190,211],"researchers":[11],"a":[13,64,89,100,110,174,200],"range":[14],"fields":[16],"including":[17],"engineers,":[18],"material":[19,206],"scientists,":[20],"and":[21,24,40,134,186,209],"chemists,":[22],"biologists,":[23],"computer":[25],"scientists.":[26],"This":[27,166],"new":[28],"paradigm":[29],"robotics":[32,60,124],"aims":[33],"to":[34,62,67,127,170],"develop":[35],"more":[36,38],"adaptable,":[37],"capable":[39,139],"safer":[41],"robots":[42,97,129],"that":[43,98,130,196],"can":[44],"interact":[45],"with":[46,53],"unstructured":[47],"environments":[48],"or":[49,71],"permit":[50],"close":[51],"cooperation":[52],"humans.":[54],"Current,":[55],"commercially-available":[56],"solutions":[57,87],"in":[58,121,149,199,216],"industrial":[59,95],"tend":[61],"take":[63],"software-centered":[65],"approach":[66],"safe":[68,133],"human-robot":[69],"interaction":[70],"focus":[72],"on":[73],"design":[75,128],"lightweight":[77],"structures":[78,106],"consisting":[79,189],"conventional":[81],"rigid":[82,181],"materials.":[83],"Even":[84],"though":[85],"these":[86],"provide":[88],"higher":[90],"safety":[91],"level":[92],"than":[93],"traditional":[94],"robots,":[96],"comprise":[99],"sufficiently":[101],"large":[102],"amount":[103],"will":[107],"bring":[108],"about":[109],"certain":[111],"degree":[112],"inherent":[114],"safety.":[115],"One":[116],"major":[119],"challenges":[120],"today's":[122],"research":[125],"is":[126],"are":[131,137,197,214],"inherently":[132],"adaptable":[135],"but":[136],"also":[138],"bearing":[141],"limited":[142],"loads.":[143],"Nature":[144],"has":[145,168],"solved":[146],"this":[147,212,217],"predicament":[148],"larger":[150],"animals":[151],"by":[152],"incorporating":[153],"stiff":[154],"endoskeletons,":[155],"which":[156],"support":[157],"weight":[159],"otherwise":[162],"predominantly":[163],"bodies.":[165],"insight":[167],"led":[169],"development":[172],"novel":[175],"spine-like":[176],"manipulator":[177],"(SpineMan)":[178],"comprised":[179],"elements":[182,188],"polypropylene":[185],"polyvinyl":[191],"alcohol":[192],"(PVA)":[193],"borax":[194],"hydrogels":[195],"enveloped":[198],"silicone":[201],"skin.":[202],"The":[203],"initial":[204],"design,":[205],"selection,":[207],"synthesis,":[208],"characterization":[210],"robot":[213],"presented":[215],"article.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
