{"id":"https://openalex.org/W4416750510","doi":"https://doi.org/10.1109/iros60139.2025.11245980","title":"On the Design, Analysis, and Experimental Validation of Pneumatically-Actuated, Soft Robotic, Telescopic Structures","display_name":"On the Design, Analysis, and Experimental Validation of Pneumatically-Actuated, Soft Robotic, Telescopic Structures","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750510","doi":"https://doi.org/10.1109/iros60139.2025.11245980"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5093460611","display_name":"Bryan Busby","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Bryan Busby","raw_affiliation_strings":["The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109769072","display_name":"Haodan Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Haodan Jiang","raw_affiliation_strings":["The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113835159","display_name":"Marcus Thompson","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Marcus Thompson","raw_affiliation_strings":["The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Univerity of Auckland in New Zealand,New Dexterity Research Group in the Department of Mechanical and Mechatronics Engineering","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48906118,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3623","last_page":"3628"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9757000207901001,"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":0.9757000207901001,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.00989999994635582,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.004800000227987766,"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/actuator","display_name":"Actuator","score":0.7524999976158142},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.732200026512146},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.531499981880188},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.46790000796318054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46480000019073486},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.4375999867916107}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7524999976158142},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.732200026512146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5335999727249146},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.531499981880188},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.49149999022483826},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46480000019073486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4632999897003174},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.4375999867916107},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3937000036239624},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.36239999532699585},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.34389999508857727},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3328000009059906},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2953000068664551},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.289900004863739},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.2614000141620636},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1696514235","https://openalex.org/W1978137841","https://openalex.org/W1984187759","https://openalex.org/W1985124115","https://openalex.org/W2025613329","https://openalex.org/W2149165496","https://openalex.org/W2519437300","https://openalex.org/W2556078315","https://openalex.org/W2560730116","https://openalex.org/W2618733545","https://openalex.org/W3035972946","https://openalex.org/W3088381276","https://openalex.org/W3090236267","https://openalex.org/W3094338872","https://openalex.org/W3102285775","https://openalex.org/W3121448421","https://openalex.org/W3165325652","https://openalex.org/W3186125799","https://openalex.org/W4285028110","https://openalex.org/W4293456673","https://openalex.org/W4401416540"],"related_works":[],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"leverages":[2],"highly":[3],"elastic,":[4],"deformable":[5],"materials":[6],"to":[7,58,204],"enable":[8],"sensitive":[9],"human-centered":[10],"applications":[11,21,75],"in":[12,85],"medicine,":[13],"rehabilitation,":[14],"and":[15,25,52,62,90,107,115,121,141,148,152,155,207],"assistance,":[16],"as":[17,19],"well":[18],"industrial":[20],"like":[22],"robotic":[23,32],"grasping":[24],"load-bearing.":[26],"One":[27],"particular":[28],"type":[29],"of":[30,55,98,103,111,123,132,135,143,174,181,197],"soft":[31,37,69,104,125],"actuator":[33],"-":[34,42],"the":[35,99,109,118,130,133,186,194,198],"pneumatically-actuated,":[36],"robotic,":[38],"telescopic":[39,68,105,136,170,202],"structure":[40],"(PASTS)":[41],"is":[43],"a":[44,81],"relatively":[45],"new":[46],"concept":[47],"that":[48,169],"utilises":[49],"compliant":[50],"material":[51],"geometry":[53],"reminiscent":[54],"traditional":[56],"telescopes":[57],"produce":[59],"linear":[60,176],"motion":[61,156],"force":[63],"exertion.":[64],"Previous":[65],"works":[66],"on":[67,73,117,145],"actuators":[70],"have":[71],"focused":[72],"specific":[74,210],"rather":[76],"than":[77],"fundamental":[78,100],"mechanics,":[79],"creating":[80],"clear":[82],"knowledge":[83],"gap":[84],"understanding":[86],"their":[87],"design,":[88],"dynamics,":[89],"dependencies.":[91],"This":[92],"paper":[93],"provides":[94],"an":[95],"in-depth":[96],"study":[97],"design":[101,165],"parameters":[102],"actuators,":[106],"examines":[108],"impacts":[110],"certain":[112],"critical":[113,191],"dimensions":[114],"geometries":[116],"physical":[119],"behaviour":[120],"capabilities":[122],"these":[124,161],"actuators.":[126],"It":[127,183],"revolves":[128],"around":[129],"exploration":[131],"influence":[134],"structure\u2019s":[137],"length,":[138],"wall":[139],"thickness":[140],"number":[142],"rings":[144],"its":[146],"inflation":[147],"deflation":[149],"behaviour,":[150],"lifting":[151],"lowering":[153],"speed,":[154],"smoothness.":[157],"By":[158],"experimentally":[159],"verifying":[160],"relationships":[162],"using":[163],"several":[164],"variations,":[166],"it":[167],"demonstrates":[168],"structures":[171,203],"are":[172],"capable":[173],"repeatable":[175],"extension":[177],"within":[178],"0.85":[179],"mm":[180],"precision.":[182],"also":[184],"determines":[185],"varying":[187],"degrees\u00b1by":[188],"which":[189],"each":[190],"parameter":[192],"affects":[193],"desirable":[195],"properties":[196],"actuator,":[199],"allowing":[200],"for":[201,209],"be":[205],"tailored":[206],"optimised":[208],"applications.":[211]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}