{"id":"https://openalex.org/W3003945911","doi":"https://doi.org/10.1109/iros40897.2019.8967741","title":"Modeling and Identification for the Design of a Rotary Soft Actuator based on Wren Mechanism","display_name":"Modeling and Identification for the Design of a Rotary Soft Actuator based on Wren Mechanism","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003945911","doi":"https://doi.org/10.1109/iros40897.2019.8967741","mag":"3003945911"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967741","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967741","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03254574","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079914847","display_name":"Thibault Gayral","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Thibault Gayral","raw_affiliation_strings":["University of Strasbourg,ICube laboratory, INSA - CNRS","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube laboratory, INSA - CNRS","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I4210100283"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048228915","display_name":"Lennart Rubbert","orcid":"https://orcid.org/0000-0002-5003-9777"},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lennart Rubbert","raw_affiliation_strings":["University of Strasbourg,ICube laboratory, INSA - CNRS","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube laboratory, INSA - CNRS","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I4210100283"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073635160","display_name":"Pierre Renaud","orcid":"https://orcid.org/0000-0002-2320-2807"},"institutions":[{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre Renaud","raw_affiliation_strings":["University of Strasbourg,ICube laboratory, INSA - CNRS","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"University of Strasbourg,ICube laboratory, INSA - CNRS","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I4210100283"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079914847"],"corresponding_institution_ids":["https://openalex.org/I4210100283","https://openalex.org/I68947357"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.56757276,"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":"7453","last_page":"7459"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958000183105469,"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/actuator","display_name":"Actuator","score":0.86958909034729},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6421977877616882},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.602531909942627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5947284698486328},{"id":"https://openalex.org/keywords/identifiability","display_name":"Identifiability","score":0.5936366319656372},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5673313140869141},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5119050741195679},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4590733051300049},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4482201337814331},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3677597641944885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3336840569972992},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2202604115009308},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1148701012134552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08791309595108032},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.06514766812324524}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.86958909034729},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6421977877616882},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.602531909942627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5947284698486328},{"id":"https://openalex.org/C122770356","wikidata":"https://www.wikidata.org/wiki/Q1656753","display_name":"Identifiability","level":2,"score":0.5936366319656372},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5673313140869141},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5119050741195679},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4590733051300049},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4482201337814331},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3677597641944885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3336840569972992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2202604115009308},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1148701012134552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08791309595108032},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.06514766812324524},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8967741","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967741","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03254574v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03254574","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeexplore.ieee.org","raw_type":"Conference papers"},{"id":"pmh:oai:univoak.eu:islandora_117917","is_oa":false,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A117917","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:univoak.eu:islandora_137662","is_oa":false,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A137662","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:univoak.eu:islandora_96492","is_oa":true,"landing_page_url":"https://univoak.eu/islandora/object/islandora%3A96492","pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03254574v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03254574","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeexplore.ieee.org","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W211888945","https://openalex.org/W613672287","https://openalex.org/W831788541","https://openalex.org/W1498917925","https://openalex.org/W1515749184","https://openalex.org/W1516861987","https://openalex.org/W1551371275","https://openalex.org/W1696514235","https://openalex.org/W1902605501","https://openalex.org/W1968780019","https://openalex.org/W2021676958","https://openalex.org/W2051564484","https://openalex.org/W2074569662","https://openalex.org/W2078901215","https://openalex.org/W2111689525","https://openalex.org/W2119139471","https://openalex.org/W2141930149","https://openalex.org/W2162526607","https://openalex.org/W2163566443","https://openalex.org/W2165976175","https://openalex.org/W2184893501","https://openalex.org/W2277652348","https://openalex.org/W2323171385","https://openalex.org/W2486016704","https://openalex.org/W2528286914","https://openalex.org/W2559035971","https://openalex.org/W2606507974","https://openalex.org/W2738259110","https://openalex.org/W2898692592","https://openalex.org/W4244280645","https://openalex.org/W6608631664","https://openalex.org/W6686451730","https://openalex.org/W7061414509"],"related_works":["https://openalex.org/W2724847603","https://openalex.org/W2034041141","https://openalex.org/W2184661725","https://openalex.org/W2573470972","https://openalex.org/W112856298","https://openalex.org/W2105626102","https://openalex.org/W2131038454","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"In":[0],"this":[1,59],"paper,":[2],"we":[3],"describe":[4],"the":[5,51,83,93,97],"use":[6],"of":[7,15,25,85,88,92],"calibration":[8,94],"techniques":[9],"to":[10,35,43],"help":[11],"improving":[12],"prediction":[13],"accuracy":[14],"models":[16],"for":[17,71,79],"soft":[18,26,66],"actuators.":[19],"A":[20],"finite-difference":[21],"model":[22],"considering":[23],"anisotropy":[24],"actuator":[27,37,67,98],"flexible":[28],"chamber":[29],"is":[30,73,77],"combined":[31],"with":[32,68,82],"experimental":[33,46],"identification":[34],"assess":[36],"motion.":[38],"Identifiability":[39],"conditions":[40],"are":[41,100],"exploited":[42],"determine":[44],"suitable":[45],"conditions,":[47],"taking":[48],"into":[49],"account":[50],"manufacturing":[52,57],"process":[53],"capabilities,":[54],"multimaterial":[55],"additive":[56],"in":[58],"context.":[60],"As":[61],"a":[62,65,86],"second":[63],"contribution,":[64],"Wren":[69],"mechanism":[70],"reinforcement":[72],"being":[74],"developed.":[75],"It":[76],"considered":[78],"rotary":[80],"actuation,":[81],"description":[84],"proof":[87],"concept.":[89],"The":[90],"interest":[91],"technique":[95],"and":[96],"design":[99],"finally":[101],"discussed.":[102]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
