{"id":"https://openalex.org/W2562470481","doi":"https://doi.org/10.1109/iros.2016.7759082","title":"Mechanical implementation of a variable-stiffness actuator for a softly strummed ukulele","display_name":"Mechanical implementation of a variable-stiffness actuator for a softly strummed ukulele","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2562470481","doi":"https://doi.org/10.1109/iros.2016.7759082","mag":"2562470481"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5077737586","display_name":"Austin Lawrence","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":true,"raw_author_name":"Austin B. Lawrence","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035713493","display_name":"Alexander Alspach","orcid":"https://orcid.org/0000-0003-1613-3724"},"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":"Alexander N. Alspach","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014297709","display_name":"Darrin C. Bentivegna","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":"Darrin C. Bentivegna","raw_affiliation_strings":["Disney Research, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Disney Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077737586"],"corresponding_institution_ids":["https://openalex.org/I4210142140"],"apc_list":null,"apc_paid":null,"fwci":0.5128,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69099253,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"376","last_page":"382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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":0.9990000128746033,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9975000023841858,"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":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inflatable","display_name":"Inflatable","score":0.7900110483169556},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.737573504447937},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6124459505081177},{"id":"https://openalex.org/keywords/bellows","display_name":"Bellows","score":0.5882937908172607},{"id":"https://openalex.org/keywords/polydimethylsiloxane","display_name":"Polydimethylsiloxane","score":0.5851895809173584},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5475363731384277},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4757887125015259},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.45107123255729675},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4309086501598358},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3501277565956116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32448744773864746},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2878066897392273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21524697542190552},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.18668049573898315},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16016581654548645}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.7900110483169556},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.737573504447937},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6124459505081177},{"id":"https://openalex.org/C2779410321","wikidata":"https://www.wikidata.org/wiki/Q208103","display_name":"Bellows","level":2,"score":0.5882937908172607},{"id":"https://openalex.org/C2779849746","wikidata":"https://www.wikidata.org/wiki/Q411955","display_name":"Polydimethylsiloxane","level":2,"score":0.5851895809173584},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5475363731384277},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4757887125015259},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.45107123255729675},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4309086501598358},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3501277565956116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32448744773864746},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2878066897392273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21524697542190552},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.18668049573898315},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16016581654548645},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/7","display_name":"Affordable and clean energy","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1900860620","https://openalex.org/W1958024618","https://openalex.org/W1963689285","https://openalex.org/W1984187759","https://openalex.org/W1984929297","https://openalex.org/W1987680888","https://openalex.org/W2018765478","https://openalex.org/W2022024011","https://openalex.org/W2066434690","https://openalex.org/W2079316448","https://openalex.org/W2093362732","https://openalex.org/W2098852340","https://openalex.org/W2101273951","https://openalex.org/W2106803048","https://openalex.org/W2108858091","https://openalex.org/W2111253117","https://openalex.org/W2142473411","https://openalex.org/W2142551056","https://openalex.org/W2150367199","https://openalex.org/W2150549828","https://openalex.org/W2156378823","https://openalex.org/W2214105563","https://openalex.org/W2274232393","https://openalex.org/W4237271316","https://openalex.org/W4303065134","https://openalex.org/W6641308255","https://openalex.org/W6674860338","https://openalex.org/W6676005781"],"related_works":["https://openalex.org/W2136901311","https://openalex.org/W4317435135","https://openalex.org/W2788946470","https://openalex.org/W2049110364","https://openalex.org/W2585909193","https://openalex.org/W2333796223","https://openalex.org/W2123055169","https://openalex.org/W4400000488","https://openalex.org/W2088447149","https://openalex.org/W2617155966"],"abstract_inverted_index":{"This":[0],"research":[1],"illustrates":[2],"the":[3,36,45,60,117],"design,":[4],"implementation,":[5],"and":[6,49,107],"evaluation":[7],"of":[8,39,47,95,104,112,131],"pneumatic":[9],"variable-stiffness":[10],"actuator":[11],"(VSA)":[12],"used":[13],"to":[14,66,72,91,97,116,125],"strum":[15],"a":[16,63,73,79,89,100,108,135],"four-stringed":[17],"ukulele":[18],"with":[19,28],"audio":[20],"variability.":[21],"A":[22],"guitar":[23],"pick":[24],"is":[25],"antagonistically":[26],"loaded":[27],"two":[29,50],"inflatable":[30],"polydimethylsiloxane":[31],"(PDMS)":[32],"actuators,":[33],"allowing":[34],"for":[35,127],"independent":[37],"control":[38],"both":[40],"position":[41],"or":[42],"stiffness":[43,93,109],"through":[44,83],"utilization":[46],"one":[48],"PDMS":[51,120],"solenoids,":[52],"respectively.":[53],"To":[54],"generate":[55],"smooth":[56],"analog":[57],"pressure":[58,81],"signals,":[59],"bellows":[61],"incorporate":[62],"controlled":[64],"leak":[65],"atmospheric":[67],"pressure,":[68],"having":[69],"synonymous":[70],"properties":[71],"low-pass":[74],"filter":[75],"circuit":[76],"when":[77],"fed":[78],"coarse":[80],"signal":[82],"PWM":[84],"control.":[85],"Experimental":[86],"results":[87],"illustrate":[88],"minimum":[90],"maximum":[92,101],"range":[94],"76":[96],"320":[98],"Nmm/rad,":[99],"cyclical":[102],"speeds":[103],"2.04":[105],"Hz,":[106],"change":[110],"rate":[111],"96":[113],"Nmm/rad/kPa.":[114],"Additional":[115],"VSA,":[118],"alternative":[119],"fabrication":[121],"methods":[122],"are":[123],"presented":[124],"allow":[126],"complex,":[128],"precise":[129],"manufacturing":[130],"silicone":[132],"bodies":[133],"in":[134],"low-cost":[136],"manner.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
