{"id":"https://openalex.org/W3005842267","doi":"https://doi.org/10.1109/lra.2020.2972880","title":"Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators","display_name":"Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators","publication_year":2020,"publication_date":"2020-02-10","ids":{"openalex":"https://openalex.org/W3005842267","doi":"https://doi.org/10.1109/lra.2020.2972880","mag":"3005842267","pmid":"https://pubmed.ncbi.nlm.nih.gov/32123751"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2972880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972880","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7050566","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076897603","display_name":"Federico Campisano","orcid":"https://orcid.org/0000-0002-5429-0926"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Federico Campisano","raw_affiliation_strings":["Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA"],"raw_orcid":"https://orcid.org/0000-0002-5429-0926","affiliations":[{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009624218","display_name":"Andria A. Remirez","orcid":"https://orcid.org/0000-0001-8284-4765"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andria A. Remirez","raw_affiliation_strings":["Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045736545","display_name":"Simone Cal\u00f3","orcid":"https://orcid.org/0000-0003-4696-7498"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simone Calo","raw_affiliation_strings":["Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0003-4696-7498","affiliations":[{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018926020","display_name":"James H. Chandler","orcid":"https://orcid.org/0000-0001-9232-4966"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James H. Chandler","raw_affiliation_strings":["Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0001-9232-4966","affiliations":[{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032056638","display_name":"Keith L. Obstein","orcid":"https://orcid.org/0000-0001-8654-7290"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]},{"id":"https://openalex.org/I901861585","display_name":"Vanderbilt University Medical Center","ror":"https://ror.org/05dq2gs74","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162197","https://openalex.org/I901861585"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keith L. Obstein","raw_affiliation_strings":["Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, USA","Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, USA","Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA"],"raw_orcid":"https://orcid.org/0000-0001-8654-7290","affiliations":[{"raw_affiliation_string":"Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, USA","institution_ids":["https://openalex.org/I901861585"]},{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009794922","display_name":"Robert J. Webster","orcid":"https://orcid.org/0000-0003-1389-224X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Webster","raw_affiliation_strings":["Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA"],"raw_orcid":"https://orcid.org/0000-0003-1389-224X","affiliations":[{"raw_affiliation_string":"Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Medical Engineering and Discovery (MED) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"raw_orcid":"https://orcid.org/0000-0002-2280-5438","affiliations":[{"raw_affiliation_string":"Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1949,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.75873693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"2642","last_page":"2649"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996999979019165,"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/kinematics","display_name":"Kinematics","score":0.7796012163162231},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6075055599212646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.516744077205658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47492724657058716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31250011920928955},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24823540449142456},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19865348935127258},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19801586866378784},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06490480899810791}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7796012163162231},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6075055599212646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.516744077205658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47492724657058716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31250011920928955},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24823540449142456},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19865348935127258},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19801586866378784},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06490480899810791},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.2972880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972880","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":"pmid:32123751","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32123751","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:eprints.whiterose.ac.uk:156331","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:7050566","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7050566","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:7050566","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7050566","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.4300000071525574,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G386830498","display_name":null,"funder_award_id":"R01 EB018992","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G5045553067","display_name":"Ultra-low-cost endoscopy for gastric cancer screening in rural China","funder_award_id":"EP/P027938/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6872188734","display_name":null,"funder_award_id":"P30 DK058404","funder_id":"https://openalex.org/F4320337357","funder_display_name":"National Institute of Diabetes and Digestive and Kidney Diseases"},{"id":"https://openalex.org/G7095663898","display_name":null,"funder_award_id":"16/137/44","funder_id":"https://openalex.org/F4320319990","funder_display_name":"National Institute for Health and Care Research"}],"funders":[{"id":"https://openalex.org/F4320319990","display_name":"National Institute for Health and Care Research","ror":"https://ror.org/0187kwz08"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320337357","display_name":"National Institute of Diabetes and Digestive and Kidney Diseases","ror":"https://ror.org/00adh9b73"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1482277461","https://openalex.org/W1564897360","https://openalex.org/W1595857058","https://openalex.org/W1919781749","https://openalex.org/W1976270646","https://openalex.org/W2016959837","https://openalex.org/W2059849490","https://openalex.org/W2101667962","https://openalex.org/W2103795454","https://openalex.org/W2125317689","https://openalex.org/W2126182407","https://openalex.org/W2127143922","https://openalex.org/W2131150943","https://openalex.org/W2135485145","https://openalex.org/W2137224424","https://openalex.org/W2138072388","https://openalex.org/W2138564331","https://openalex.org/W2140516362","https://openalex.org/W2146630054","https://openalex.org/W2164013717","https://openalex.org/W2328731921","https://openalex.org/W2413442240","https://openalex.org/W2556078315","https://openalex.org/W2614608217","https://openalex.org/W2902699554","https://openalex.org/W2986761915","https://openalex.org/W6680798591"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177"],"abstract_inverted_index":{"Continuum":[0],"manipulators":[1,103],"are":[2,11],"flexible":[3],"robots":[4],"which":[5,121],"undergo":[6],"continuous":[7],"deformation":[8,17,56],"as":[9,67,76,78,139],"they":[10],"actuated.":[12],"To":[13],"describe":[14,54],"the":[15,44,55,58,82,96,105,115,140,152,175],"elastic":[16,70],"of":[18,33,39,43,57,84,98,101,107,117,163,180],"such":[19,66],"robots,":[20],"kinematic":[21,46,99,181],"models":[22,47,100,182],"have":[23],"been":[24],"developed":[25],"and":[26,35,130,159,171,190],"successfully":[27],"applied":[28,150],"to":[29,36,49,52,124,151],"a":[30,92,118,154,186,191],"large":[31],"variety":[32],"designs":[34],"various":[37],"levels":[38],"constitutive":[40],"stiffness.":[41],"Independent":[42],"design,":[45],"need":[48],"be":[50],"calibrated":[51],"best":[53],"manipulator.":[59],"However,":[60],"even":[61],"after":[62],"calibration,":[63],"unmodeled":[64,128],"effects":[65],"friction,":[68],"nonlinear":[69],"and/or":[71],"spatially":[72],"varying":[73],"material":[74],"properties":[75],"well":[77],"manufacturing":[79],"imprecision":[80],"reduce":[81],"accuracy":[83,97],"these":[85,127],"models.":[86],"In":[87],"this":[88,113],"paper,":[89],"we":[90],"present":[91],"method":[93,148],"for":[94,126,183],"improving":[95],"continuum":[102,157,184],"through":[104,114,143],"incorporation":[106],"orientation":[108,136,172],"sensor":[109,137],"feedback.":[110],"We":[111],"achieve":[112],"use":[116],"\"disturbance":[119],"wrench\",":[120],"is":[122,131,149],"used":[123],"compensate":[125],"effects,":[129],"continuously":[132],"estimated":[133],"based":[134],"on":[135],"feedback":[138],"robot":[141],"moves":[142],"its":[144],"workspace.":[145],"The":[146],"presented":[147],"HydroJet,":[153],"waterjet-actuated":[155],"soft":[156],"manipulator,":[158],"shows":[160],"an":[161],"average":[162],"40%":[164],"reduction":[165],"in":[166,174],"root":[167],"mean":[168],"square":[169],"position":[170],"error":[173],"two":[176],"most":[177],"common":[178],"types":[179],"manipulators,":[185],"Cosserat":[187],"rod":[188],"model":[189],"pseudo-rigid":[192],"body":[193],"model.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}