{"id":"https://openalex.org/W2730494110","doi":"https://doi.org/10.1109/lra.2017.2720842","title":"Active-Braid, a Bioinspired Continuum Manipulator","display_name":"Active-Braid, a Bioinspired Continuum Manipulator","publication_year":2017,"publication_date":"2017-06-28","ids":{"openalex":"https://openalex.org/W2730494110","doi":"https://doi.org/10.1109/lra.2017.2720842","mag":"2730494110"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2720842","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2720842","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5103231879","display_name":"Taimoor Hassan","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Taimoor Hassan","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078241160","display_name":"Barbara Mazzolai","orcid":"https://orcid.org/0000-0003-0722-8350"},"institutions":[{"id":"https://openalex.org/I4210117106","display_name":"Polo d\u2019Innovazione di Genomica","ror":"https://ror.org/0252wp173","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210117106"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Barbara Mazzolai","raw_affiliation_strings":["Polo Sant'anna Valdera, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Polo Sant'anna Valdera, Pisa, Italy","institution_ids":["https://openalex.org/I4210117106"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103231879"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":1.041,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.75014958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"2104","last_page":"2110"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973000288009644,"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/braid","display_name":"Braid","score":0.911483645439148},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6181365847587585},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6144963502883911},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5729871392250061},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4574240446090698},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4311240613460541},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38529855012893677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3299463987350464},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.286064088344574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2673259973526001},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.17449325323104858},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.150974839925766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10795167088508606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10783347487449646}],"concepts":[{"id":"https://openalex.org/C124194741","wikidata":"https://www.wikidata.org/wiki/Q320809","display_name":"Braid","level":2,"score":0.911483645439148},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6181365847587585},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6144963502883911},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5729871392250061},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4574240446090698},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4311240613460541},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38529855012893677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3299463987350464},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.286064088344574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2673259973526001},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.17449325323104858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.150974839925766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10795167088508606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10783347487449646},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2017.2720842","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2720842","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/519568","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/519568","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W284635244","https://openalex.org/W1891615552","https://openalex.org/W1946746497","https://openalex.org/W1986717340","https://openalex.org/W1989710690","https://openalex.org/W1990339242","https://openalex.org/W2007443511","https://openalex.org/W2027454283","https://openalex.org/W2052657884","https://openalex.org/W2060827890","https://openalex.org/W2064267416","https://openalex.org/W2095462685","https://openalex.org/W2124540383","https://openalex.org/W2146587048","https://openalex.org/W2156378823","https://openalex.org/W2161409436","https://openalex.org/W2222188174","https://openalex.org/W2490560513","https://openalex.org/W3009751784","https://openalex.org/W6610195426","https://openalex.org/W6647072359","https://openalex.org/W6723442133","https://openalex.org/W6774320323"],"related_works":["https://openalex.org/W2353085251","https://openalex.org/W2097383567","https://openalex.org/W2999591896","https://openalex.org/W2123074364","https://openalex.org/W2362393443","https://openalex.org/W2031657062","https://openalex.org/W269359346","https://openalex.org/W1999169606","https://openalex.org/W1981486107","https://openalex.org/W1992320467"],"abstract_inverted_index":{"This":[0],"letter":[1],"reports":[2],"the":[3,8,16,60,77,104,107],"concept":[4],"and":[5,21,51,89,95],"design":[6],"of":[7,54,64,106],"active-braid,":[9],"a":[10,32,52,82],"novel":[11],"bioinspired":[12],"continuum":[13],"manipulator":[14,30,78],"with":[15,26],"ability":[17],"to":[18,59,81,102],"contract,":[19],"extend,":[20],"bend":[22],"in":[23,68,100],"three-dimensional":[24],"space":[25],"varying":[27],"stiffness.":[28],"The":[29,71],"utilizes":[31],"flexible":[33],"crossed-link":[34],"helical":[35,72],"array":[36,73],"structure":[37,74,85],"as":[38],"its":[39],"main":[40],"supporting":[41],"body,":[42],"which":[43],"is":[44],"deformed":[45],"by":[46],"using":[47],"two":[48],"radial":[49],"actuators":[50],"total":[53],"six":[55],"longitudinal":[56],"tendons,":[57],"analogously":[58],"three":[61],"major":[62],"types":[63],"muscle":[65],"layers":[66],"found":[67],"muscular":[69],"hydrostats.":[70],"ensures":[75],"that":[76],"behaves":[79],"similarly":[80],"constant":[83],"volume":[84],"(expanding":[86],"while":[87,91],"shortening":[88],"contracting":[90],"elongating).":[92],"Numerical":[93],"simulations":[94],"experimental":[96],"prototypes":[97],"are":[98],"used":[99],"order":[101],"evaluate":[103],"feasibility":[105],"concept.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
