{"id":"https://openalex.org/W4416748752","doi":"https://doi.org/10.1109/iros60139.2025.11246281","title":"Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer","display_name":"Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748752","doi":"https://doi.org/10.1109/iros60139.2025.11246281"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246281","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":"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/A5062923885","display_name":"O. Godson Osele","orcid":"https://orcid.org/0000-0003-4532-3869"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"O. Godson Osele","raw_affiliation_strings":["Stanford University,Department of Mechanical Engineering,Stanford,CA,USA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Mechanical Engineering,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022410289","display_name":"Kentaro Barhydt","orcid":"https://orcid.org/0000-0003-2535-9936"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kentaro Barhydt","raw_affiliation_strings":["MIT,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"MIT,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063265366","display_name":"T. J. Sullivan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Teagan Sullivan","raw_affiliation_strings":["MIT,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"MIT,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["MIT,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"MIT,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Stanford University,Department of Mechanical Engineering,Stanford,CA,USA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Mechanical Engineering,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062923885"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35081362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3279","last_page":"3286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8942000269889832,"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":0.8942000269889832,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.054099999368190765,"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":0.007699999958276749,"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/sling","display_name":"Sling (weapon)","score":0.5777000188827515},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5709999799728394},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5160999894142151},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.48429998755455017},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40209999680519104},{"id":"https://openalex.org/keywords/strips","display_name":"STRIPS","score":0.37400001287460327},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.3377000093460083},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.32749998569488525},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.30880001187324524}],"concepts":[{"id":"https://openalex.org/C178103971","wikidata":"https://www.wikidata.org/wiki/Q199771","display_name":"Sling (weapon)","level":2,"score":0.5777000188827515},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5709999799728394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5220999717712402},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5160999894142151},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.48429998755455017},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.454800009727478},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40560001134872437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40209999680519104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37880000472068787},{"id":"https://openalex.org/C200925200","wikidata":"https://www.wikidata.org/wiki/Q7624170","display_name":"STRIPS","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3684999942779541},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.32749998569488525},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.30880001187324524},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.30790001153945923},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.30550000071525574},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.304500013589859},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2985000014305115},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.2827000021934509},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2815000116825104},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27230000495910645},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.27090001106262207},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C31352089","wikidata":"https://www.wikidata.org/wiki/Q3750474","display_name":"Systems design","level":2,"score":0.25609999895095825},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246281","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":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2117220581","https://openalex.org/W2159722260","https://openalex.org/W2734595964","https://openalex.org/W2737491236","https://openalex.org/W2892136599","https://openalex.org/W2948678286","https://openalex.org/W3003868926","https://openalex.org/W3130477893","https://openalex.org/W4308945982","https://openalex.org/W4321195203","https://openalex.org/W4391407198"],"related_works":[],"abstract_inverted_index":{"Pneumatic":[0],"soft":[1,96,158],"everting":[2,97],"robotic":[3,43,98,160],"structures":[4,34,99],"have":[5,68],"the":[6,64,77,84,93,110,124],"potential":[7],"to":[8,14,17,50,62,83,143],"facilitate":[9],"human":[10,54],"transfer":[11],"tasks":[12],"due":[13],"their":[15,25,56,149],"ability":[16],"grow":[18,51],"underneath":[19],"humans":[20],"without":[21],"sliding":[22],"friction":[23],"and":[24,55,59,118,122,135,146,163],"utility":[26],"as":[27],"a":[28,42,53,88,137,157,169],"flexible":[29,101],"sling":[30,44,161],"when":[31,39,131],"deflated.":[32,132],"Tubular":[33],"naturally":[35],"yield":[36],"circular":[37],"cross-sections":[38,71],"inflated,":[40],"whereas":[41],"must":[45],"be":[46],"both":[47],"thin":[48,119],"enough":[49,61],"between":[52,107],"resting":[57],"surface":[58],"wide":[60,117],"cradle":[63],"human.":[65,85],"Recent":[66],"works":[67],"achieved":[69],"flattened":[70],"by":[72],"including":[73],"rigid":[74],"components":[75],"into":[76],"structure,":[78],"but":[79],"this":[80],"reduces":[81],"conformability":[82],"We":[86,133],"present":[87],"method":[89,114],"of":[90,95,128],"mechanically":[91],"programming":[92],"cross-section":[94],"using":[100],"strips":[102],"that":[103],"constrain":[104],"radial":[105],"expansion":[106],"points":[108],"along":[109],"outer":[111],"membrane.":[112],"Our":[113],"enables":[115],"simultaneously":[116],"inflated":[120],"profiles,":[121],"maintains":[123],"full":[125],"multi-axis":[126],"flexibility":[127],"traditional":[129],"slings":[130],"develop":[134],"validate":[136],"model":[138],"relating":[139],"geometric":[140],"design":[141],"specifications":[142],"fabrication":[144],"parameters,":[145],"experimentally":[147],"characterize":[148],"effects":[150],"on":[151],"growth":[152],"rate.":[153],"Finally,":[154],"we":[155],"prototype":[156],"growing":[159],"system":[162],"demonstrate":[164],"its":[165],"use":[166],"for":[167],"assisting":[168],"single":[170],"caregiver":[171],"in":[172],"bed-to-chair":[173],"patient":[174],"transfer.":[175]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
