{"id":"https://openalex.org/W4312844126","doi":"https://doi.org/10.1109/iros47612.2022.9981444","title":"Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming","display_name":"Multi-DoF Soft Robotic Actuators Based on Spring Reinforce and Particle Jamming","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312844126","doi":"https://doi.org/10.1109/iros47612.2022.9981444"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981444","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5035612069","display_name":"Weiwang Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwang Fan","raw_affiliation_strings":["College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041584821","display_name":"He Xu","orcid":"https://orcid.org/0009-0006-7865-3142"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Xu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102937059","display_name":"Haihang Wang","orcid":"https://orcid.org/0000-0003-4653-1117"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haihang Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107977474","display_name":"Siqing Chen","orcid":"https://orcid.org/0000-0001-8683-4206"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqing Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006124647","display_name":"Qiandiao Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiandiao Wei","raw_affiliation_strings":["College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078787976","display_name":"Chaochao You","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaochao You","raw_affiliation_strings":["College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering&#x2019; Harbin Engineering University,China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8494","last_page":"8499"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"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":0.9944000244140625,"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":0.7691879272460938},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.7579240798950195},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.7150335311889648},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6689150929450989},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.646819531917572},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.5615966320037842},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5343317985534668},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5068221688270569},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.441210001707077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43285617232322693},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.392681360244751},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3900870978832245},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38173216581344604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34507036209106445},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1468372642993927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12251937389373779},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09429919719696045}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7691879272460938},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.7579240798950195},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.7150335311889648},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6689150929450989},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.646819531917572},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.5615966320037842},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5343317985534668},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5068221688270569},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.441210001707077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43285617232322693},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.392681360244751},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3900870978832245},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38173216581344604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34507036209106445},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1468372642993927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12251937389373779},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09429919719696045},{"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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981444","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1126643094","display_name":"\u591a\u5143\u4eff\u751f\u673a\u5236\u4e0b\u81ea\u4e3b\u673a\u5668\u4eba\u89c6\u89c9\u53d7\u6c61\u540e\u7684\u81ea\u7701\u5f0f\u5076\u7136\u6027\u89c4\u5212","funder_award_id":"51875113","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1982150069","https://openalex.org/W2007924815","https://openalex.org/W2025422771","https://openalex.org/W2026011478","https://openalex.org/W2054628872","https://openalex.org/W2081414165","https://openalex.org/W2165479823","https://openalex.org/W2403249444","https://openalex.org/W2520982900","https://openalex.org/W2790084889","https://openalex.org/W2921339107","https://openalex.org/W2944806635","https://openalex.org/W2980980233","https://openalex.org/W2991460789","https://openalex.org/W3003175584","https://openalex.org/W3022595114","https://openalex.org/W3037722175","https://openalex.org/W3041885040","https://openalex.org/W3043159383","https://openalex.org/W3120258062","https://openalex.org/W3134259965","https://openalex.org/W3190405850","https://openalex.org/W3194786616","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W2191403106","https://openalex.org/W3028163505","https://openalex.org/W4382046882","https://openalex.org/W4394802591","https://openalex.org/W2537880718","https://openalex.org/W2795031164","https://openalex.org/W2030078349","https://openalex.org/W2923601718","https://openalex.org/W2965799011","https://openalex.org/W2168375600"],"abstract_inverted_index":{"Soft":[0],"robots":[1,22],"have":[2,73],"a":[3,94,108,120],"wide":[4],"rang":[5],"of":[6,53,98,149],"applications":[7],"due":[8],"to":[9,18,48,57,106,140],"their":[10],"compliance,":[11],"flexibility":[12],"and":[13,39,42,70,92,104,128,146],"low":[14],"fabrication":[15,44],"cost.":[16],"Compare":[17],"rigid":[19],"robots,":[20],"soft":[21],"are":[23,46,113],"more":[24],"safe":[25],"for":[26],"human.":[27],"In":[28],"this":[29],"work,":[30],"we":[31,118],"design":[32],"various":[33],"multi-DoF":[34],"actuators":[35,127],"with":[36,125],"spring":[37,69,103],"reinforce":[38],"particle":[40,71],"jamming,":[41],"two":[43,126],"methods":[45],"proposed":[47],"make":[49],"them.":[50],"Each":[51],"type":[52],"actuator":[54,81,110],"is":[55,138],"tested":[56],"evaluate":[58],"the":[59,76,84,136],"mechanical":[60],"properties":[61],"by":[62,115],"experiments.":[63,116],"Experimental":[64],"results":[65],"show":[66,129,134],"that":[67,135],"both":[68],"jamming":[72],"effect":[74],"on":[75],"stiffness.":[77],"Besides,":[78],"Spring":[79],"reinforced":[80],"(SRA)":[82],"increases":[83],"maximum":[85],"allowable":[86],"inflation":[87],"pressure,":[88],"output":[89],"bending":[90,131,143],"force":[91],"gives":[93],"good":[95],"linear":[96],"relationship":[97],"bending.":[99],"We":[100],"also":[101],"integrate":[102],"particles":[105],"fabricate":[107],"hybrid":[109],"whose":[111],"behaviors":[112],"explored":[114],"Finally,":[117],"create":[119],"snake-like":[121],"robotic":[122],"manipulator":[123,137],"assembled":[124],"its":[130],"motion.":[132,150],"Results":[133],"able":[139],"achieve":[141],"several":[142],"shapes":[144],"steadily":[145],"large":[147],"range":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
