{"id":"https://openalex.org/W4313174801","doi":"https://doi.org/10.1109/iros47612.2022.9981634","title":"Microspine Design for Additive Manufacturing","display_name":"Microspine Design for Additive Manufacturing","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313174801","doi":"https://doi.org/10.1109/iros47612.2022.9981634"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981634","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":"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/A5006882510","display_name":"Paul Nadan","orcid":"https://orcid.org/0000-0001-7901-2132"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Nadan","raw_affiliation_strings":["Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028247474","display_name":"Dinesh K. Patel","orcid":"https://orcid.org/0000-0003-1883-2801"},"institutions":[{"id":"https://openalex.org/I4210128676","display_name":"Human Computer Interaction (Switzerland)","ror":"https://ror.org/036dv6j71","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210128676"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dinesh K. Patel","raw_affiliation_strings":["Human-Computer Interaction Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human-Computer Interaction Institute","institution_ids":["https://openalex.org/I4210128676"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038992278","display_name":"Catherine Pavlov","orcid":"https://orcid.org/0000-0002-3254-8017"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Catherine Pavlov","raw_affiliation_strings":["Mechanical Engineering, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069212001","display_name":"Spencer Backus","orcid":"https://orcid.org/0000-0002-6466-053X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Spencer Backus","raw_affiliation_strings":["California Institute of Technology,Jet Propulsion Laboratory,82-105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Jet Propulsion Laboratory,82-105","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081925724","display_name":"Aaron M. Johnson","orcid":"https://orcid.org/0000-0002-1629-8329"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron M. Johnson","raw_affiliation_strings":["Mechanical Engineering, Carnegie Mellon University,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Carnegie Mellon University,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2129,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.40620957,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5640","last_page":"5647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9977999925613403,"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/fused-deposition-modeling","display_name":"Fused deposition modeling","score":0.8322864174842834},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6978152990341187},{"id":"https://openalex.org/keywords/deposition","display_name":"Deposition (geology)","score":0.5398648381233215},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5368452668190002},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5117916464805603},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.5096650123596191},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5024995803833008},{"id":"https://openalex.org/keywords/ultimate-tensile-strength","display_name":"Ultimate tensile strength","score":0.4955030679702759},{"id":"https://openalex.org/keywords/suspension","display_name":"Suspension (topology)","score":0.4894339144229889},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.48915913701057434},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.47057053446769714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4630906879901886},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.4621961712837219},{"id":"https://openalex.org/keywords/design-process","display_name":"Design process","score":0.45883387327194214},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3323233127593994},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.26028093695640564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21614676713943481},{"id":"https://openalex.org/keywords/process-engineering","display_name":"Process engineering","score":0.14455050230026245},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11830341815948486}],"concepts":[{"id":"https://openalex.org/C2780329122","wikidata":"https://www.wikidata.org/wiki/Q18349149","display_name":"Fused deposition modeling","level":3,"score":0.8322864174842834},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6978152990341187},{"id":"https://openalex.org/C64297162","wikidata":"https://www.wikidata.org/wiki/Q1987070","display_name":"Deposition (geology)","level":3,"score":0.5398648381233215},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5368452668190002},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5117916464805603},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.5096650123596191},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5024995803833008},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.4955030679702759},{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.4894339144229889},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.48915913701057434},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.47057053446769714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4630906879901886},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.4621961712837219},{"id":"https://openalex.org/C48262172","wikidata":"https://www.wikidata.org/wiki/Q16908765","display_name":"Design process","level":3,"score":0.45883387327194214},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3323233127593994},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.26028093695640564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21614676713943481},{"id":"https://openalex.org/C21880701","wikidata":"https://www.wikidata.org/wiki/Q2144042","display_name":"Process engineering","level":1,"score":0.14455050230026245},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11830341815948486},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.0},{"id":"https://openalex.org/C54725748","wikidata":"https://www.wikidata.org/wiki/Q7247277","display_name":"Process integration","level":2,"score":0.0},{"id":"https://openalex.org/C2816523","wikidata":"https://www.wikidata.org/wiki/Q180184","display_name":"Sediment","level":2,"score":0.0},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981634","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/G3648211085","display_name":null,"funder_award_id":"80NM0018D0004","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1953078217","https://openalex.org/W1989891345","https://openalex.org/W2016576289","https://openalex.org/W2026286411","https://openalex.org/W2098436483","https://openalex.org/W2099089255","https://openalex.org/W2334973810","https://openalex.org/W2343762060","https://openalex.org/W2502936992","https://openalex.org/W2547043653","https://openalex.org/W2625944154","https://openalex.org/W2738173023","https://openalex.org/W2738870766","https://openalex.org/W2755899265","https://openalex.org/W2793435880","https://openalex.org/W2801458905","https://openalex.org/W2888412584","https://openalex.org/W2951519982","https://openalex.org/W2952630004","https://openalex.org/W2980386651","https://openalex.org/W2991060907","https://openalex.org/W3005920487","https://openalex.org/W3044906141","https://openalex.org/W3081054434","https://openalex.org/W3114205328","https://openalex.org/W3185737027","https://openalex.org/W4205937065","https://openalex.org/W4230680243","https://openalex.org/W4235469158","https://openalex.org/W4246878719","https://openalex.org/W6719168601","https://openalex.org/W6756091111","https://openalex.org/W6764146236"],"related_works":["https://openalex.org/W2762204558","https://openalex.org/W2962612507","https://openalex.org/W2510227772","https://openalex.org/W2803995364","https://openalex.org/W3127609762","https://openalex.org/W2522247727","https://openalex.org/W2903231397","https://openalex.org/W4379987333","https://openalex.org/W2995977988","https://openalex.org/W4303437412"],"abstract_inverted_index":{"Microspine":[0],"grippers":[1],"allow":[2],"robots":[3],"to":[4,35,53,95,163],"ascend":[5],"steep":[6],"rocky":[7],"slopes":[8],"and":[9,20,56,114,124,130,153,156,160,166,177],"cliff":[10],"faces,":[11],"enabling":[12],"scientific":[13],"exploration":[14],"of":[15,89,108,127,170],"exposed":[16],"strata":[17],"on":[18],"Earth":[19],"other":[21],"solar":[22],"system":[23],"bodies.":[24],"Historically,":[25],"the":[26,47,109,115,128,144,171],"Shape":[27],"Deposition":[28,49,72],"Manufacturing":[29,50,73],"(SDM)":[30],"process":[31,52,146,173],"has":[32],"been":[33],"used":[34],"fabricate":[36],"multi-material":[37],"suspensions":[38],"for":[39,97,174],"load-sharing":[40],"among":[41],"multiple":[42],"microspines.":[43],"We":[44,85,141],"instead":[45],"apply":[46],"Hybrid":[48],"(HDM)":[51],"microspine":[54,63,90,117,139],"fabrication,":[55],"we":[57],"further":[58],"propose":[59],"a":[60,77,87,136],"novel":[61],"3D-printed":[62],"suspension":[64],"design":[65,118],"that":[66,92,143],"can":[67,147],"be":[68],"manufactured":[69],"via":[70],"Fused":[71],"(FDM)":[74],"alone,":[75],"using":[76],"single":[78],"flexible":[79],"material":[80,101],"with":[81,150],"an":[82],"embedded":[83],"fishhook.":[84],"use":[86],"model":[88,113],"stiffness":[91,112,155],"allows":[93],"designers":[94],"compensate":[96],"order-of-magnitude":[98],"changes":[99],"in":[100],"tensile":[102,122],"modulus":[103],"by":[104],"adjusting":[105],"geometric":[106],"parameters":[107],"design.":[110,140],"The":[111],"FDM":[116,131,145,172],"are":[119,133],"validated":[120],"through":[121],"testing,":[123],"mechanical":[125],"properties":[126],"HDM":[129],"designs":[132],"compared":[134],"against":[135],"standard":[137],"SDM":[138,164],"demonstrate":[142],"produce":[148],"microspines":[149],"equivalent":[151],"normal":[152],"axial":[154],"superior":[157],"maximum":[158],"load":[159],"fatigue":[161],"response":[162],"microspines,":[165],"discuss":[167],"additional":[168],"advantages":[169],"rapid":[175],"prototyping":[176],"broader":[178],"accessibility.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
