{"id":"https://openalex.org/W2801401001","doi":"https://doi.org/10.1109/lra.2018.2831723","title":"Design, Characterization, and Implementation of a Two-DOF Fabric-Based Soft Robotic Arm","display_name":"Design, Characterization, and Implementation of a Two-DOF Fabric-Based Soft Robotic Arm","publication_year":2018,"publication_date":"2018-04-30","ids":{"openalex":"https://openalex.org/W2801401001","doi":"https://doi.org/10.1109/lra.2018.2831723","mag":"2801401001"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2831723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2831723","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/A5048166929","display_name":"Xinquan Liang","orcid":"https://orcid.org/0000-0002-4659-5826"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xinquan Liang","raw_affiliation_strings":["Department of Biomedical Engineering and the Department of Mechanical Engineering, National University of Singapore, Singapore, 117575"],"raw_orcid":"https://orcid.org/0000-0002-4659-5826","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering and the Department of Mechanical Engineering, National University of Singapore, Singapore, 117575","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029914716","display_name":"Haris Cheong","orcid":"https://orcid.org/0000-0001-8856-8319"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haris Cheong","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027923938","display_name":"Yi Sun","orcid":"https://orcid.org/0000-0002-0906-5682"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yi Sun","raw_affiliation_strings":["Department of Mechanical Engineering and the Graduate School for Integrative Sciences and Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0906-5682","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Graduate School for Integrative Sciences and Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101939640","display_name":"Jin Guo","orcid":"https://orcid.org/0000-0002-4930-0667"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jin Guo","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4930-0667","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067394594","display_name":"Chee\u2010Kong Chui","orcid":"https://orcid.org/0000-0001-9463-4781"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee Kong Chui","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-9463-4781","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075456048","display_name":"Chen\u2010Hua Yeow","orcid":"https://orcid.org/0000-0002-6210-4548"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen-Hua Yeow","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6210-4548","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3451,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.9261148,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"3","issue":"3","first_page":"2702","last_page":"2709"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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/robotic-arm","display_name":"Robotic arm","score":0.83431476354599},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.6724121570587158},{"id":"https://openalex.org/keywords/inflatable","display_name":"Inflatable","score":0.6563040614128113},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6197542548179626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5016977787017822},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4767664074897766},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.46716511249542236},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45574334263801575},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4357580244541168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42723360657691956},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.41652151942253113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3040715456008911},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23932519555091858},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.19062751531600952},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16944387555122375},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.14564666152000427}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.83431476354599},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.6724121570587158},{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.6563040614128113},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6197542548179626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5016977787017822},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4767664074897766},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.46716511249542236},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45574334263801575},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4357580244541168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42723360657691956},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.41652151942253113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3040715456008911},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23932519555091858},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.19062751531600952},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16944387555122375},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.14564666152000427},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2831723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2831723","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G412397199","display_name":null,"funder_award_id":"R-397-000-258-592","funder_id":"https://openalex.org/F4320324587","funder_display_name":"Singapore Millennium Foundation"}],"funders":[{"id":"https://openalex.org/F4320324587","display_name":"Singapore Millennium Foundation","ror":"https://ror.org/024p43m36"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W152838827","https://openalex.org/W1508938261","https://openalex.org/W1975908899","https://openalex.org/W1982286666","https://openalex.org/W1992020923","https://openalex.org/W2007920821","https://openalex.org/W2009921591","https://openalex.org/W2017896512","https://openalex.org/W2027454283","https://openalex.org/W2062569962","https://openalex.org/W2073142361","https://openalex.org/W2122254900","https://openalex.org/W2136901311","https://openalex.org/W2164882912","https://openalex.org/W2221214614","https://openalex.org/W2575464634","https://openalex.org/W2594099276","https://openalex.org/W2612733352","https://openalex.org/W2736778426","https://openalex.org/W2737320938","https://openalex.org/W2753822333","https://openalex.org/W2762700191","https://openalex.org/W2774617194","https://openalex.org/W2793484124","https://openalex.org/W6606281103","https://openalex.org/W6734819625"],"related_works":["https://openalex.org/W211888945","https://openalex.org/W2752433080","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W4253527034","https://openalex.org/W2065660108"],"abstract_inverted_index":{"Traditional":[0],"rigid":[1,26],"robotic":[2,27,68,83,101,121,192],"arms":[3],"have":[4],"been":[5],"widely":[6],"used":[7,31],"in":[8,34,186,198],"various":[9],"industries.":[10],"They":[11],"own":[12],"the":[13,38,136,160,173,181,184],"merits":[14],"of":[15,152,162,183],"high":[16,22,42],"force":[17,169,177],"output,":[18],"precise":[19],"control,":[20],"and":[21,50,74,91,105,139,141,155,167,176,179],"efficiency.":[23],"However,":[24],"a":[25,67,95,99,142,207,211,219],"arm":[28,69,122,137,193],"is":[29,40,71,86,94,194],"seldom":[30],"by":[32],"people":[33],"daily":[35,201],"life,":[36],"as":[37,144],"cost":[39],"usually":[41],"and,":[43],"most":[44],"importantly,":[45],"its":[46],"rigidity,":[47],"large":[48],"weight,":[49],"noncompliance":[51],"can":[52,108,134,148],"cause":[53],"safety":[54],"concerns":[55],"when":[56],"it":[57],"comes":[58],"to":[59,65,209,215],"human-robot":[60],"interaction.":[61],"Therefore,":[62],"we":[63,117],"want":[64],"build":[66],"that":[70,133,147],"cheap,":[72],"lightweight,":[73],"provides":[75],"safe":[76,110],"interaction":[77,111],"with":[78,112],"humans.":[79],"This":[80,189],"soft":[81,120,191],"inflatable":[82],"arm,":[84],"which":[85],"made":[87,124],"from":[88,125,218],"low-cost":[89],"fabrics":[90],"flexible":[92],"plastics,":[93],"promising":[96,195],"solution":[97],"for":[98,196,203],"domestic":[100],"arm.":[102],"The":[103,128,157],"softness":[104],"natural":[106],"compliance":[107],"guarantee":[109],"people.":[113],"In":[114],"this":[115],"letter,":[116],"present":[118],"our":[119],"(SRA)":[123],"nylon":[126],"fabric.":[127],"SRA":[129,158,185],"contains":[130],"two":[131],"joints":[132],"bend":[135],"vertically":[138],"horizontally,":[140],"gripper":[143],"an":[145],"end-effector":[146],"pick":[149],"up":[150],"objects":[151,217],"different":[153],"shapes":[154],"sizes.":[156],"has":[159],"advantages":[161],"low":[163],"cost,":[164],"good":[165],"portability,":[166],"adequate":[168],"output.":[170],"We":[171],"characterized":[172],"bending":[174],"modality":[175],"output":[178],"demonstrated":[180],"functionality":[182],"object":[187],"manipulation.":[188],"fabric-based":[190],"use":[197],"assisting":[199],"people's":[200],"activities,":[202],"example,":[204],"mounting":[205],"on":[206],"wheelchair":[208,212],"enable":[210],"bound":[213],"person":[214],"reach":[216],"distance.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":12}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
