{"id":"https://openalex.org/W3000268585","doi":"https://doi.org/10.1109/lra.2020.2967323","title":"Concentric Precurved Bellows: New Bending Actuators for Soft Robots","display_name":"Concentric Precurved Bellows: New Bending Actuators for Soft Robots","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W3000268585","doi":"https://doi.org/10.1109/lra.2020.2967323","mag":"3000268585"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967323","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5022972932","display_name":"Jake A. Childs","orcid":"https://orcid.org/0000-0002-6836-9918"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jake A. Childs","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, USA"],"raw_orcid":"https://orcid.org/0000-0002-6836-9918","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, USA","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Rucker","raw_affiliation_strings":["Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, USA"],"raw_orcid":"https://orcid.org/0000-0001-7181-1933","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I75027704"]},{"raw_affiliation_string":"Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, USA","institution_ids":["https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75027704"],"apc_list":null,"apc_paid":null,"fwci":0.5156,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.56246049,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"5","issue":"2","first_page":"1215","last_page":"1222"},"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":0.9939000010490417,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9783999919891357,"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/bellows","display_name":"Bellows","score":0.9626878499984741},{"id":"https://openalex.org/keywords/concentric","display_name":"Concentric","score":0.9349515438079834},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.6086926460266113},{"id":"https://openalex.org/keywords/flexural-rigidity","display_name":"Flexural rigidity","score":0.5997117757797241},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5775658488273621},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5732899904251099},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5097245573997498},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.495686411857605},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.4792520999908447},{"id":"https://openalex.org/keywords/axial-symmetry","display_name":"Axial symmetry","score":0.4674544930458069},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4315086305141449},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.42890018224716187},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.42673003673553467},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3687344193458557},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.35618680715560913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34117746353149414},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33952152729034424},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2916536331176758},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27211618423461914},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.25404947996139526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24375632405281067},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.24331727623939514},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08039942383766174}],"concepts":[{"id":"https://openalex.org/C2779410321","wikidata":"https://www.wikidata.org/wiki/Q208103","display_name":"Bellows","level":2,"score":0.9626878499984741},{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.9349515438079834},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.6086926460266113},{"id":"https://openalex.org/C73099012","wikidata":"https://www.wikidata.org/wiki/Q5459050","display_name":"Flexural rigidity","level":2,"score":0.5997117757797241},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5775658488273621},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5732899904251099},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5097245573997498},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.495686411857605},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.4792520999908447},{"id":"https://openalex.org/C35377427","wikidata":"https://www.wikidata.org/wiki/Q3886264","display_name":"Axial symmetry","level":2,"score":0.4674544930458069},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4315086305141449},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.42890018224716187},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.42673003673553467},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3687344193458557},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.35618680715560913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34117746353149414},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33952152729034424},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2916536331176758},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27211618423461914},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.25404947996139526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24375632405281067},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.24331727623939514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08039942383766174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2967323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967323","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/G7076020741","display_name":null,"funder_award_id":"IIS-1652588","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1595857058","https://openalex.org/W1993671632","https://openalex.org/W1996588298","https://openalex.org/W2025613329","https://openalex.org/W2066399169","https://openalex.org/W2084461575","https://openalex.org/W2101667962","https://openalex.org/W2119531408","https://openalex.org/W2131150943","https://openalex.org/W2164013717","https://openalex.org/W2181520924","https://openalex.org/W2184993170","https://openalex.org/W2462654948","https://openalex.org/W2521432822","https://openalex.org/W2558083967","https://openalex.org/W2738259110","https://openalex.org/W2782435507","https://openalex.org/W2889529934","https://openalex.org/W2897701914","https://openalex.org/W2901701174","https://openalex.org/W2910317595","https://openalex.org/W4247379505","https://openalex.org/W6757888861"],"related_works":["https://openalex.org/W2315538653","https://openalex.org/W2325260228","https://openalex.org/W2883550785","https://openalex.org/W3000268585","https://openalex.org/W3215045960","https://openalex.org/W2038839691","https://openalex.org/W3217130992","https://openalex.org/W2365888736","https://openalex.org/W2358691919","https://openalex.org/W2392137678"],"abstract_inverted_index":{"We":[0,157],"present":[1],"a":[2,14,48,181],"new":[3],"mechanical":[4],"bending":[5,35],"actuator":[6],"for":[7,187],"soft":[8],"and":[9,34,82,116,135,172,178],"continuum":[10],"robots":[11,55],"based":[12],"on":[13],"pair":[15],"of":[16,31,37,43,72,78,95,105,146,161,164],"concentric":[17,39,107,167],"precurved":[18,44,106,168],"bellows.":[19],"Each":[20],"bellows":[21,40,92,155,169],"is":[22,47],"rotated":[23],"axially":[24],"at":[25,112,126,132],"its":[26],"base,":[27],"allowing":[28],"independent":[29],"control":[30],"the":[32,38,58,70,122,127,133,143,154,159],"curvature":[33],"plane":[36],"pair.":[41],"Rotation":[42],"nested":[45],"tubes":[46,96],"well-known":[49],"principle":[50],"by":[51,103,153],"which":[52,185],"needle-sized":[53],"concentric-tube":[54],"operate,":[56],"but":[57],"concept":[59],"has":[60],"never":[61],"been":[62],"scaled":[63],"up":[64],"to":[65,69,142,149],"large":[66],"diameters":[67],"due":[68,141],"trade-offs":[71],"increased":[73],"actuation":[74,102],"forces,":[75],"decreased":[76],"range":[77],"motion,":[79],"strain":[80],"limits,":[81],"torsional":[83,118,136,147],"windup.":[84],"In":[85],"this":[86],"letter,":[87],"we":[88],"show":[89],"that":[90,131],"using":[91],"structures":[93],"instead":[94],"allows":[97],"two":[98,162],"important":[99],"breakthroughs:":[100],"(1)":[101],"rotation":[104],"elements":[108],"can":[109],"be":[110],"achieved":[111],"much":[113],"larger":[114],"scales,":[115],"(2)":[117],"lag":[119],"(i.e.":[120],"when":[121],"relative":[123],"tube":[124],"angle":[125],"tip":[128],"differs":[129],"from":[130],"base)":[134],"instability":[137],"are":[138],"virtually":[139],"eliminated":[140],"high":[144],"ratio":[145],"rigidity":[148,151],"flexural":[150],"endowed":[152],"geometry.":[156],"discuss":[158],"development":[160],"types":[163],"3D":[165],"printed":[166],"prototypes":[170],"(revolute":[171],"helical),":[173],"perform":[174],"model":[175,184],"parameter":[176],"identification,":[177],"experimentally":[179],"verify":[180],"torsionless":[182],"mechanics":[183],"accounts":[186],"direction-dependent":[188],"rigidities.":[189]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}