{"id":"https://openalex.org/W2963352555","doi":"https://doi.org/10.1109/lra.2019.2929994","title":"Design and Modeling of an Extensible Soft Robotic Arm","display_name":"Design and Modeling of an Extensible Soft Robotic Arm","publication_year":2019,"publication_date":"2019-07-22","ids":{"openalex":"https://openalex.org/W2963352555","doi":"https://doi.org/10.1109/lra.2019.2929994","mag":"2963352555"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2929994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2929994","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/A5101740342","display_name":"Xiaojiao Chen","orcid":"https://orcid.org/0000-0001-5868-006X"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xiaojiao Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5868-006X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077478555","display_name":"Yaoxin Guo","orcid":"https://orcid.org/0000-0002-3552-7975"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yaoxin Guo","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3552-7975","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069658999","display_name":"Dehao Duanmu","orcid":"https://orcid.org/0000-0002-9227-1945"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dehao Duanmu","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-9227-1945","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-3900-3519","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7511-2870","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-7726-0770","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101740342"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":1.5942,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.82089821,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"4208","last_page":"4215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9972000122070312,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9894000291824341,"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/extensibility","display_name":"Extensibility","score":0.657133936882019},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6255390644073486},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6077602505683899},{"id":"https://openalex.org/keywords/elongation","display_name":"Elongation","score":0.5619983077049255},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5483475923538208},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5151142477989197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5051224827766418},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.44633540511131287},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39037394523620605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3332669138908386},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33062905073165894},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3000757694244385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20532560348510742},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.18289309740066528},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10426470637321472},{"id":"https://openalex.org/keywords/ultimate-tensile-strength","display_name":"Ultimate tensile strength","score":0.08873602747917175}],"concepts":[{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.657133936882019},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6255390644073486},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6077602505683899},{"id":"https://openalex.org/C33947775","wikidata":"https://www.wikidata.org/wiki/Q271439","display_name":"Elongation","level":3,"score":0.5619983077049255},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5483475923538208},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5151142477989197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5051224827766418},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44633540511131287},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39037394523620605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3332669138908386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33062905073165894},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3000757694244385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20532560348510742},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.18289309740066528},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10426470637321472},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.08873602747917175},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2929994","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2929994","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1582208364","https://openalex.org/W1836215632","https://openalex.org/W1966141623","https://openalex.org/W1992020923","https://openalex.org/W1995166423","https://openalex.org/W2007443511","https://openalex.org/W2015106839","https://openalex.org/W2049460350","https://openalex.org/W2060827890","https://openalex.org/W2090370942","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2126157233","https://openalex.org/W2127966735","https://openalex.org/W2144830405","https://openalex.org/W2146587048","https://openalex.org/W2148459629","https://openalex.org/W2149696528","https://openalex.org/W2161409436","https://openalex.org/W2170836916","https://openalex.org/W2191730565","https://openalex.org/W2566467848","https://openalex.org/W2592769779","https://openalex.org/W2625731136","https://openalex.org/W2736527903","https://openalex.org/W2744345703","https://openalex.org/W2746200739","https://openalex.org/W2766646977","https://openalex.org/W2808344079","https://openalex.org/W2810773383","https://openalex.org/W2817949609","https://openalex.org/W2868042605","https://openalex.org/W2894852016","https://openalex.org/W2899844036","https://openalex.org/W2911323448","https://openalex.org/W3192342399","https://openalex.org/W6641577243"],"related_works":["https://openalex.org/W1948607442","https://openalex.org/W3004004161","https://openalex.org/W2382032830","https://openalex.org/W2044615423","https://openalex.org/W4247766898","https://openalex.org/W4244765761","https://openalex.org/W2361584951","https://openalex.org/W2365327041","https://openalex.org/W4225348249","https://openalex.org/W31122515"],"abstract_inverted_index":{"Soft":[0],"robotic":[1,23,51,106],"arms":[2,24,52],"are":[3,53],"receiving":[4],"more":[5,7,42],"and":[6,13,37,58,89,95,115,140,151],"attention":[8],"for":[9],"their":[10],"intrinsic":[11],"safety":[12],"natural":[14],"compliance.":[15],"Instead":[16],"of":[17,32,77,82,87,113,125,129,146,153],"traditional":[18],"serialized":[19],"rotary":[20],"joints,":[21],"soft":[22,50,105],"often":[25],"have":[26],"complex":[27,90],"joints":[28],"with":[29,41,108],"coupled":[30],"degrees":[31],"freedom":[33],"like":[34],"bending,":[35,149],"rotation,":[36,59,150],"elongation,":[38],"enabling":[39],"them":[40],"freedoms":[43],"in":[44,138],"achieving":[45],"sophisticated":[46],"movements.":[47],"However,":[48],"currently":[49],"mostly":[54],"focusing":[55],"on":[56],"bending":[57],"whereas":[60],"elongation":[61,111,152],"is":[62],"either":[63],"unavailable":[64],"due":[65],"to":[66],"the":[67,78,85,93,126,130,144,148,154],"inextensible":[68],"backbone":[69],"or":[70],"only":[71],"has":[72],"a":[73,109,117,122],"small":[74],"range":[75],"because":[76],"limited":[79],"contraction":[80],"ratio":[81,112],"actuators.":[83],"Furthermore,":[84],"coupling":[86],"actuators":[88],"structure":[91],"makes":[92],"modeling":[94,119],"control":[96],"hard.":[97],"In":[98],"this":[99],"letter,":[100],"we":[101],"introduced":[102],"an":[103],"extensible":[104],"arm":[107],"large":[110],"400%,":[114],"give":[116],"novel":[118],"method":[120],"from":[121],"new":[123],"perspective":[124],"force":[127],"balance":[128],"arm.":[131,155],"The":[132],"models":[133],"were":[134],"experimentally":[135],"tested":[136],"both":[137],"loaded":[139],"unloaded":[141],"situations,":[142],"showing":[143],"effectiveness":[145],"predicting":[147]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5}],"updated_date":"2026-05-24T08:33:08.758527","created_date":"2025-10-10T00:00:00"}