{"id":"https://openalex.org/W2208004755","doi":"https://doi.org/10.1109/iros.2015.7353692","title":"A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing","display_name":"A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2208004755","doi":"https://doi.org/10.1109/iros.2015.7353692","mag":"2208004755"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353692","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/1478355/1/Wurdemann_Steiner_Chain.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054213740","display_name":"Sina Sareh","orcid":"https://orcid.org/0000-0002-9787-1798"},"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":"S. Sareh","raw_affiliation_strings":["Centre for Robotics Research, King's College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107963334","display_name":"Yohan Noh","orcid":"https://orcid.org/0000-0002-1103-6397"},"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":"Y. Noh","raw_affiliation_strings":["Centre for Robotics Research, King's College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059155747","display_name":"Tommaso Ranzani","orcid":"https://orcid.org/0000-0001-8362-3710"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Ranzani","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"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":"H. Wurdemann","raw_affiliation_strings":["Centre for Robotics Research, King's College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"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":"H. Liu","raw_affiliation_strings":["Centre for Robotics Research, King's College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College, London, UK","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":"K. Althoefer","raw_affiliation_strings":["Centre for Robotics Research, King's College, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054213740"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":1.273,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.7973073,"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":"2336","last_page":"2341"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9926000237464905,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9610000252723694,"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/bending","display_name":"Bending","score":0.6355608701705933},{"id":"https://openalex.org/keywords/modulation","display_name":"Modulation (music)","score":0.5055463314056396},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.48585817217826843},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4692988991737366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.391095906496048},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3693637251853943},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3545013964176178},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.311443030834198},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22425928711891174},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2084258794784546}],"concepts":[{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6355608701705933},{"id":"https://openalex.org/C123079801","wikidata":"https://www.wikidata.org/wiki/Q750240","display_name":"Modulation (music)","level":2,"score":0.5055463314056396},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.48585817217826843},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4692988991737366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.391095906496048},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3693637251853943},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3545013964176178},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.311443030834198},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22425928711891174},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2084258794784546},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/iros.2015.7353692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353692","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"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1478355","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1478355/","pdf_url":"https://discovery.ucl.ac.uk/1478355/1/Wurdemann_Steiner_Chain.pdf","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: Zhang, J and Knoll, A and Hutchinson, S and Dudek, G, (eds.) Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (pp. pp. 2336-2341).  IEEE: Hamburg, Germany. (2015)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:researchonline.rca.ac.uk:6798","is_oa":true,"landing_page_url":null,"pdf_url":"https://researchonline.rca.ac.uk/6798/1/A_7.5mm_Steiner_chain_fibre-optic_system_for_multi-segment_flex_sensing.pdf","source":{"id":"https://openalex.org/S4306402545","display_name":"Royal College of Art Research Repository (Royal College of Art)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165526535","host_organization_name":"Royal College of Art","host_organization_lineage":["https://openalex.org/I165526535"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/a628746a-f803-44cf-8dc1-c90f0cc6331a","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84958183572&partnerID=8YFLogxK","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":"Sareh , S , Noh , Y , Ranzani , T , Wurdemann , H , Liu , H & Althoefer , K 2015 , A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing . in IEEE International Conference on Intelligent Robots and Systems . vol. 2015-December , 7353692 , pp. 2336-2341 , IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 , Hamburg , Germany , 28/09/2015 . https://doi.org/10.1109/IROS.2015.7353692","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/a628746a-f803-44cf-8dc1-c90f0cc6331a","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/a628746a-f803-44cf-8dc1-c90f0cc6331a","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":"Sareh, S, Noh, Y, Ranzani, T, Wurdemann, H, Liu, H & Althoefer, K 2015, A 7.5mm Steiner chain fibre-optic system for multi-segment flex sensing. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353692, pp. 2336-2341, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/2015. https://doi.org/10.1109/IROS.2015.7353692","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:researchonline.rca.ac.uk:2970","is_oa":false,"landing_page_url":"http://researchonline.rca.ac.uk/2970/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196584","display_name":"Archive of research processes and output produced by RCA (Royal College of Art)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165526535","host_organization_name":"Royal College of Art","host_organization_lineage":["https://openalex.org/I165526535"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"doi:10.13140/rg.2.1.4637.3842","is_oa":true,"landing_page_url":"https://doi.org/10.13140/rg.2.1.4637.3842","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1478355","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1478355/","pdf_url":"https://discovery.ucl.ac.uk/1478355/1/Wurdemann_Steiner_Chain.pdf","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: Zhang, J and Knoll, A and Hutchinson, S and Dudek, G, (eds.) Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (pp. pp. 2336-2341).  IEEE: Hamburg, Germany. (2015)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5325641960","display_name":null,"funder_award_id":"287728","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2208004755.pdf","grobid_xml":"https://content.openalex.org/works/W2208004755.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1919781749","https://openalex.org/W1973512488","https://openalex.org/W1975722466","https://openalex.org/W1984831423","https://openalex.org/W1985934131","https://openalex.org/W1994335204","https://openalex.org/W1997480144","https://openalex.org/W2015106839","https://openalex.org/W2015364224","https://openalex.org/W2019212799","https://openalex.org/W2027192530","https://openalex.org/W2037290941","https://openalex.org/W2074746802","https://openalex.org/W2075793199","https://openalex.org/W2080178830","https://openalex.org/W2084780923","https://openalex.org/W2092391367","https://openalex.org/W2101667962","https://openalex.org/W2107524776","https://openalex.org/W2129935047","https://openalex.org/W2146461823","https://openalex.org/W2151810181","https://openalex.org/W3193680531","https://openalex.org/W4251181231","https://openalex.org/W4297804367","https://openalex.org/W6654981085","https://openalex.org/W6670675340","https://openalex.org/W6799996692","https://openalex.org/W6999495995"],"related_works":["https://openalex.org/W2094759408","https://openalex.org/W2967276674","https://openalex.org/W2059638863","https://openalex.org/W1994975089","https://openalex.org/W1733196678","https://openalex.org/W2124730083","https://openalex.org/W2083241965","https://openalex.org/W2300221238","https://openalex.org/W2083152134","https://openalex.org/W2064218690"],"abstract_inverted_index":{"This":[0,25,69],"paper":[1],"presents":[2],"a":[3,37,76,84,154],"highly":[4],"compact":[5],"fibre-optic":[6,26,79],"system":[7],"based":[8],"on":[9],"light":[10],"intensity":[11],"modulation":[12,88,106],"for":[13],"multi-segment":[14],"flex":[15],"sensing":[16,80,148],"in":[17,31,161],"pliable":[18],"robot":[19],"arms,":[20],"e.g.,":[21],"articulated":[22],"surgical":[23],"instruments.":[24],"arrangement":[27],"is":[28,34,73],"7.5":[29],"mm":[30],"diameter":[32],"and":[33,40,117],"comprised":[35],"of":[36,59,94,136,142,159,165],"two-segment":[38,167],"flexible":[39],"stretchable":[41],"Steiner":[42,70],"chain":[43,71],"arm":[44,125,168],"section":[45,72],"with":[46,83,98,169],"twelve":[47],"housings":[48],"at":[49],"the":[50,67,92,95,115,124,137,147,166],"distal":[51],"side":[52],"which":[53,90],"accommodates":[54],"passive":[55,96],"cables.":[56],"The":[57,102,132,150],"displacement":[58],"each":[60],"cable":[61],"will":[62],"be":[63],"used":[64],"to":[65,113,118,127,171],"determine":[66],"bending.":[68],"followed":[74],"by":[75],"basal":[77],"rigid":[78],"unit":[81],"integrated":[82],"low-friction":[85,103],"retractable":[86,104],"distance":[87,105],"array":[89,107],"couples":[91],"motion":[93],"cables":[97],"light-emitting":[99],"optical":[100,138],"fibres.":[101],"uses":[108],"steel":[109],"spring-needle":[110],"double":[111],"sliders":[112],"reduce":[114],"hysteresis":[116],"recover":[119],"reference":[120,172],"sensor":[121],"values":[122,174],"when":[123],"returns":[126],"its":[128],"original":[129],"straight":[130],"configuration.":[131],"U-shape":[133],"loopback":[134],"design":[135],"fibres":[139],"allows":[140],"integration":[141],"all":[143],"electronics":[144],"away":[145],"from":[146,176],"site.":[149],"experimental":[151],"results":[152],"indicate":[153],"maximum":[155],"bending":[156],"angle":[157,173],"error":[158],"6\u00b0":[160],"one":[162],"individual":[163],"segment":[164],"respect":[170],"calculated":[175],"camera":[177],"images.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-02T09:04:35.204637","created_date":"2025-10-10T00:00:00"}