{"id":"https://openalex.org/W4312854180","doi":"https://doi.org/10.1109/iros47612.2022.9982098","title":"Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots","display_name":"Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312854180","doi":"https://doi.org/10.1109/iros47612.2022.9982098"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982098","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":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/record/299142/files/Electro-Adhesive%20Tubular%20Clutch%20for%20Variable-Stiffness%20Robots.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100411575","display_name":"Yi Sun","orcid":"https://orcid.org/0000-0003-1056-9746"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Yi Sun","raw_affiliation_strings":["Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005692787","display_name":"Krishna Manaswi Digumarti","orcid":"https://orcid.org/0000-0003-0521-3200"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Krishna Manaswi Digumarti","raw_affiliation_strings":["Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024622489","display_name":"Hoang Vu Phan","orcid":"https://orcid.org/0000-0002-4943-9765"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hoang-Vu Phan","raw_affiliation_strings":["Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029556764","display_name":"Omar Aloui","orcid":"https://orcid.org/0000-0002-0381-7484"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Omar Aloui","raw_affiliation_strings":["Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne,Laboratory of Intelligent Systems,Lausanne,Switzerland,CH-1015","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100411575"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":2.8858,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.93105009,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9628","last_page":"9634"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.9167901873588562},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7600119709968567},{"id":"https://openalex.org/keywords/adhesive","display_name":"Adhesive","score":0.6174912452697754},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5643653273582458},{"id":"https://openalex.org/keywords/electrode","display_name":"Electrode","score":0.5301896929740906},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.4412633776664734},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4337462782859802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41067641973495483},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38226374983787537},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.36819469928741455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35549888014793396},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.2789861559867859},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.2680182456970215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24696588516235352},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.18694719672203064},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08504962921142578}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.9167901873588562},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7600119709968567},{"id":"https://openalex.org/C68928338","wikidata":"https://www.wikidata.org/wiki/Q131790","display_name":"Adhesive","level":3,"score":0.6174912452697754},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5643653273582458},{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.5301896929740906},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.4412633776664734},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4337462782859802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41067641973495483},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38226374983787537},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.36819469928741455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35549888014793396},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.2789861559867859},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.2680182456970215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24696588516235352},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.18694719672203064},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08504962921142578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9982098","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982098","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"},{"id":"pmh:oai:infoscience.epfl.ch:299142","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/record/299142/files/Electro-Adhesive%20Tubular%20Clutch%20for%20Variable-Stiffness%20Robots.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:299142","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/record/299142/files/Electro-Adhesive%20Tubular%20Clutch%20for%20Variable-Stiffness%20Robots.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1847353717","https://openalex.org/W2007924815","https://openalex.org/W2070268063","https://openalex.org/W2104107827","https://openalex.org/W2131396150","https://openalex.org/W2418295831","https://openalex.org/W2518073382","https://openalex.org/W2520982900","https://openalex.org/W2527181701","https://openalex.org/W2581007005","https://openalex.org/W2763137514","https://openalex.org/W2833516672","https://openalex.org/W2883132479","https://openalex.org/W2892123002","https://openalex.org/W2897561735","https://openalex.org/W2898186482","https://openalex.org/W2909662786","https://openalex.org/W2971230551","https://openalex.org/W2973098377","https://openalex.org/W2995522041","https://openalex.org/W2996576045","https://openalex.org/W3016039917","https://openalex.org/W3092216269","https://openalex.org/W3096523944","https://openalex.org/W3174362883","https://openalex.org/W3179596296","https://openalex.org/W4210759607","https://openalex.org/W4247145934"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1841497340","https://openalex.org/W104615690","https://openalex.org/W3168655051","https://openalex.org/W4205311664","https://openalex.org/W2188961778","https://openalex.org/W2162962017","https://openalex.org/W2616449328"],"abstract_inverted_index":{"Electro-adhesive":[0],"clutches":[1],"have":[2],"become":[3],"effective":[4,212],"tools":[5],"for":[6,61,73,201],"variable":[7,177,216],"stiffness":[8,162,178,193],"functions":[9],"in":[10,57,173,181,192,219],"many":[11],"robotic":[12,223],"systems":[13,224],"due":[14],"to":[15,97,166,175],"their":[16],"light":[17],"weight,":[18],"high":[19],"speed":[20],"and":[21,94,139,159,187,196],"strong":[22,62],"brake":[23,63],"force.":[24,64],"In":[25],"this":[26,170],"paper,":[27],"we":[28],"present":[29],"a":[30,47,58,71,161,184,188],"novel,":[31],"tubular":[32,48,67,117,146,208],"design":[33,51],"of":[34,41,92,114,128,135,169,214,222],"an":[35,104,152,211],"electro-adhesive":[36,116],"clutch.":[37],"Our":[38],"clutch":[39,118,147,157,172,209],"consists":[40],"flexible":[42],"electrode":[43,55,85,130],"sheets":[44],"rolled":[45],"into":[46],"structure.":[49],"This":[50,100],"allows":[52],"encapsulating":[53],"large":[54],"areas":[56],"compact":[59],"size":[60],"Additionally,":[65],"the":[66,84,90,107,115,121,126,129,133,136,140,156,202,220],"structure":[68,80,101,186],"acts":[69],"as":[70],"guide":[72],"directional":[74],"sliding":[75],"without":[76],"external":[77],"guides.":[78],"The":[79,112,206],"also":[81],"ensures":[82],"that":[83,120,225],"surfaces":[86],"are":[87,179,199],"encapsulated,":[88],"preventing":[89],"accumulation":[91],"dust":[93],"thus":[95],"leading":[96],"reliable":[98],"performance.":[99],"is":[102,148,210],"therefore":[103],"improvement":[105],"over":[106],"commonly":[108],"used":[109],"planar":[110],"designs.":[111],"characterization":[113],"shows":[119],"frictional":[122],"force":[123],"increases":[124],"with":[125],"increase":[127],"contact":[131],"area,":[132],"decrease":[134],"roll":[137],"diameter":[138],"dielectric":[141],"layer":[142],"thickness.":[143],"A":[144],"retractable":[145,171],"made":[149],"by":[150,194],"fixing":[151],"elastic":[153],"cable":[154],"along":[155],"axis":[158],"achieves":[160],"change":[163],"factor":[164],"up":[165],"260.":[167],"Applications":[168],"robotics":[174],"achieve":[176],"demonstrated":[180],"two":[182,203],"systems:":[183],"tensegrity":[185],"wing":[189],"skeleton.":[190],"Changes":[191],"13.2":[195],"30.2":[197],"times":[198],"achieved":[200],"systems,":[204],"respectively.":[205],"proposed":[207],"means":[213],"achieving":[215],"stiffness,":[217],"particularly":[218],"case":[221],"transmit":[226],"forces":[227],"through":[228],"tensioned":[229],"cables.":[230]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
