{"id":"https://openalex.org/W2791239833","doi":"https://doi.org/10.1109/lra.2018.2812917","title":"3D-Printed Ready-To-Use Variable-Stiffness Structures","display_name":"3D-Printed Ready-To-Use Variable-Stiffness Structures","publication_year":2018,"publication_date":"2018-03-07","ids":{"openalex":"https://openalex.org/W2791239833","doi":"https://doi.org/10.1109/lra.2018.2812917","mag":"2791239833"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2812917","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812917","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8302435/08307469.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/8302435/08307469.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083389618","display_name":"Majid Taghavi","orcid":"https://orcid.org/0000-0002-9742-5931"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Majid Taghavi","raw_affiliation_strings":["Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9742-5931","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052548139","display_name":"Tim Helps","orcid":"https://orcid.org/0000-0001-5122-8257"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tim Helps","raw_affiliation_strings":["Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5122-8257","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086423978","display_name":"Boxiong Huang","orcid":"https://orcid.org/0000-0001-8589-9956"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Boxiong Huang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8589-9956","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061139675","display_name":"Jonathan Rossiter","orcid":"https://orcid.org/0000-0002-9109-9987"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jonathan Rossiter","raw_affiliation_strings":["Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9109-9987","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics and the Bristol Robotics Laboratory, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2326,"has_fulltext":true,"cited_by_count":42,"citation_normalized_percentile":{"value":0.86984472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"2402","last_page":"2407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10810","display_name":"Polymer composites and self-healing","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10810","display_name":"Polymer composites and self-healing","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2507","display_name":"Polymers and Plastics"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.988099992275238,"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/variable","display_name":"Variable (mathematics)","score":0.5633793473243713},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5305493474006653},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.4938386082649231},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3458402156829834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34032416343688965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28354188799858093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24621745944023132},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11854663491249084},{"id":"https://openalex.org/keywords/manufacturing-engineering","display_name":"Manufacturing engineering","score":0.11347246170043945}],"concepts":[{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5633793473243713},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5305493474006653},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.4938386082649231},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3458402156829834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34032416343688965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28354188799858093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24621745944023132},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11854663491249084},{"id":"https://openalex.org/C117671659","wikidata":"https://www.wikidata.org/wiki/Q11049265","display_name":"Manufacturing engineering","level":1,"score":0.11347246170043945}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2812917","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812917","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8302435/08307469.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/42d6b75c-861d-4aae-8eb7-9946388b07f9","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/42d6b75c-861d-4aae-8eb7-9946388b07f9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Taghavi, M, Helps, T, Huang, B & Rossiter, J 2018, '3D-printed ready-to-use variable-stiffness structures', IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2402-2407. https://doi.org/10.1109/LRA.2018.2812917","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/42d6b75c-861d-4aae-8eb7-9946388b07f9","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/42d6b75c-861d-4aae-8eb7-9946388b07f9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.1109/lra.2018.2812917","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812917","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8302435/08307469.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3392364136","display_name":null,"funder_award_id":"EP/M020460/1 and EP/M026388/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3591712666","display_name":"Wearable Soft Robotics for Independent Living","funder_award_id":"EP/M026388/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4531664076","display_name":null,"funder_award_id":"EP/M020460/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5692480177","display_name":null,"funder_award_id":"EP/M026388/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8378034227","display_name":"Soft robotic technologies for next-generation bio-integrative medical devices","funder_award_id":"EP/M020460/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2791239833.pdf","grobid_xml":"https://content.openalex.org/works/W2791239833.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1989718315","https://openalex.org/W1992437526","https://openalex.org/W1997861712","https://openalex.org/W2015750724","https://openalex.org/W2036723211","https://openalex.org/W2039286876","https://openalex.org/W2041186773","https://openalex.org/W2041737075","https://openalex.org/W2060281402","https://openalex.org/W2076598966","https://openalex.org/W2083304713","https://openalex.org/W2098198681","https://openalex.org/W2102762991","https://openalex.org/W2129918473","https://openalex.org/W2145045959","https://openalex.org/W2152372923","https://openalex.org/W2169706473","https://openalex.org/W2294327715","https://openalex.org/W2299504714","https://openalex.org/W2533729875","https://openalex.org/W2572619500"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Various":[0],"physical":[1],"phenomena":[2],"have":[3,15],"been":[4],"used":[5,41],"to":[6,59,90],"develop":[7],"variable-stiffness":[8,127],"(VS)":[9],"materials":[10],"and":[11,51,78,81,106],"structures,":[12],"but":[13],"all":[14],"involved":[16],"some":[17],"elements":[18],"of":[19,97,102,109,119],"manual":[20],"fabrication,":[21],"which":[22],"limits":[23],"their":[24],"applications.":[25],"In":[26],"contrast,":[27],"here":[28],"we":[29],"show":[30],"fully":[31],"three-dimensional":[32],"(3D)":[33],"printed":[34,110],"monolithic":[35],"VS":[36,68,112],"structures":[37,113],"that":[38],"can":[39,85],"be":[40,86],"directly":[42],"from":[43,88],"the":[44,65,82,98],"printer.":[45],"Thermally":[46],"responsive":[47],"polylactic":[48],"acid":[49],"(PLA)":[50],"conductive":[52],"graphene":[53],"PLA":[54,84],"(GPLA)":[55],"are":[56,114],"combined":[57],"in-printer":[58],"deliver":[60],"a":[61,75,125],"new":[62],"framework":[63],"for":[64,129],"temperature-controlled":[66],"3D":[67],"structures.":[69],"The":[70,104,116],"embedded":[71],"GPLA":[72],"acts":[73],"as":[74],"heating":[76,95],"element,":[77],"both":[79],"it":[80],"surrounding":[83],"transitioned":[87],"rigid":[89],"soft":[91],"using":[92],"simple":[93],"Joule":[94],"because":[96],"glass":[99],"transition":[100],"behavior":[101],"PLA.":[103],"mechanical":[105],"electrical":[107],"properties":[108],"composite":[111],"studied.":[115],"great":[117],"potential":[118],"this":[120],"technology":[121],"is":[122],"demonstrated":[123],"in":[124],"prototype":[126],"orthotic":[128],"foot":[130],"drop.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}