{"id":"https://openalex.org/W3200838605","doi":"https://doi.org/10.1109/iros47612.2022.9982171","title":"Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle","display_name":"Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W3200838605","doi":"https://doi.org/10.1109/iros47612.2022.9982171","mag":"3200838605"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982171","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/A5051213704","display_name":"Joshua Pinskier","orcid":"https://orcid.org/0000-0002-8878-9012"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Joshua Pinskier","raw_affiliation_strings":["Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","Robotics and Autonomous Systems Group, Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group, Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025057083","display_name":"James Brett","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"James Brett","raw_affiliation_strings":["Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","Robotics and Autonomous Systems Group, Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group, Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016544434","display_name":"Lauren Hanson","orcid":"https://orcid.org/0000-0003-3654-9188"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lauren Hanson","raw_affiliation_strings":["Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","Robotics and Autonomous Systems Group, Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group, Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078387673","display_name":"Katrina Lo Surdo","orcid":"https://orcid.org/0000-0001-6632-8998"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Katrina Lo Surdo","raw_affiliation_strings":["Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","Robotics and Autonomous Systems Group, Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group, Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068183098","display_name":"David Howard","orcid":"https://orcid.org/0000-0002-5012-7224"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"David Howard","raw_affiliation_strings":["Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","Robotics and Autonomous Systems Group, Data61, CSIRO, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Data61, CSIRO,Robotics and Autonomous Systems Group,Australia","institution_ids":["https://openalex.org/I42894916"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Group, Data61, CSIRO, Australia","institution_ids":["https://openalex.org/I42894916","https://openalex.org/I1292875679"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1941,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93280336,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8507","last_page":"8514"},"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":0.9979000091552734,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9937000274658203,"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/jamming","display_name":"Jamming","score":0.8625097274780273},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6161622405052185},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.608851432800293},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.5389109253883362},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.5153469443321228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48417288064956665},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.4594145715236664},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.4574335217475891},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.4362659752368927},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4272167980670929},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.41510143876075745},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3833765983581543},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3519555330276489},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30386674404144287},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.13004988431930542},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09403872489929199}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8625097274780273},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6161622405052185},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.608851432800293},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.5389109253883362},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.5153469443321228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48417288064956665},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.4594145715236664},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.4574335217475891},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.4362659752368927},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4272167980670929},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.41510143876075745},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3833765983581543},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3519555330276489},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30386674404144287},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.13004988431930542},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09403872489929199},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982171","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":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1484218370","https://openalex.org/W1530318945","https://openalex.org/W2005660297","https://openalex.org/W2070099904","https://openalex.org/W2111287038","https://openalex.org/W2480989714","https://openalex.org/W2520982900","https://openalex.org/W2588052119","https://openalex.org/W2752165401","https://openalex.org/W2773059370","https://openalex.org/W2784648116","https://openalex.org/W2792966616","https://openalex.org/W2848247366","https://openalex.org/W2908275318","https://openalex.org/W2925266131","https://openalex.org/W2963239712","https://openalex.org/W2963304500","https://openalex.org/W2964529391","https://openalex.org/W2969830272","https://openalex.org/W3012413578","https://openalex.org/W3015155535","https://openalex.org/W3092868804","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3105540415","https://openalex.org/W3128795238","https://openalex.org/W3136025710","https://openalex.org/W3150631816","https://openalex.org/W3172842797","https://openalex.org/W3174164195","https://openalex.org/W3175681922","https://openalex.org/W3178351738","https://openalex.org/W3181717942","https://openalex.org/W3203763089","https://openalex.org/W3210055250","https://openalex.org/W4238443218"],"related_works":["https://openalex.org/W3036311796","https://openalex.org/W4367665844","https://openalex.org/W4285543619","https://openalex.org/W4319589397","https://openalex.org/W1955801659","https://openalex.org/W2582005554","https://openalex.org/W3131618301","https://openalex.org/W3158363272","https://openalex.org/W3089387070","https://openalex.org/W2763500538"],"abstract_inverted_index":{"Fibre":[0],"jamming":[1,46,60],"is":[2],"a":[3,53,66,112,121],"new":[4],"and":[5,18,89,103,124,128,144],"understudied":[6],"soft":[7],"robotic":[8,69,122],"mechanism":[9],"that":[10,132],"has":[11],"previously":[12],"found":[13],"success":[14],"in":[15,41,65,139],"stiffness-tunable":[16,67],"arms":[17],"fingers.":[19],"However,":[20],"to":[21],"date":[22],"researchers":[23],"have":[24],"not":[25],"fully":[26],"taken":[27],"advantage":[28],"of":[29,44,93,141],"the":[30,42,94,106,133],"freedom":[31],"offered":[32],"by":[33,115],"contemporary":[34],"fabrication":[35],"techniques":[36],"including":[37],"multi-material":[38],"3D":[39,57],"printing":[40],"creation":[43],"fibre":[45,59],"structures.":[47],"In":[48],"this":[49],"research,":[50],"we":[51,110],"present":[52],"novel,":[54],"modular,":[55],"multi-material,":[56],"printed,":[58],"tendon":[61,84,95,118],"unit":[62],"for":[63],"use":[64],"compliant":[68],"ankle,":[70],"or":[71],"Jammkle.":[72],"Its":[73],"multimaterial":[74],"printed":[75],"design":[76,79,107],"offers":[77],"unparalleled":[78],"freedom,":[80],"enabling":[81],"application":[82,114],"specific":[83],"design.":[85],"We":[86,130],"develop":[87],"analytical":[88],"finite":[90],"element":[91],"models":[92],"unit,":[96],"showing":[97],"good":[98],"agreement":[99],"with":[100],"experimental":[101],"data":[102],"numerically":[104],"explore":[105],"space.":[108],"Finally,":[109],"demonstrate":[111],"practical":[113],"integrating":[116],"multiple":[117],"units":[119],"into":[120],"ankle":[123],"perform":[125],"extensive":[126],"testing":[127],"characterisation.":[129],"show":[131],"Jammkle":[134],"outperforms":[135],"comparative":[136],"leg":[137],"structures":[138],"terms":[140],"compliance,":[142],"damping,":[143],"slip":[145],"prevention.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
