{"id":"https://openalex.org/W3007855608","doi":"https://doi.org/10.1109/lra.2020.2975732","title":"A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots","display_name":"A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots","publication_year":2020,"publication_date":"2020-02-21","ids":{"openalex":"https://openalex.org/W3007855608","doi":"https://doi.org/10.1109/lra.2020.2975732","mag":"3007855608"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2975732","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975732","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/09006817.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/ielx7/7083369/8932682/09006817.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067481653","display_name":"Martin Tschiersky","orcid":"https://orcid.org/0000-0002-4866-3175"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Martin Tschiersky","raw_affiliation_strings":["Chairof Precision Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-4866-3175","affiliations":[{"raw_affiliation_string":"Chairof Precision Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075320475","display_name":"Edsko E.G. Hekman","orcid":"https://orcid.org/0000-0002-7198-6810"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Edsko E. G. Hekman","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-7198-6810","affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033499749","display_name":"Dannis Michel Brouwer","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dannis M. Brouwer","raw_affiliation_strings":["Chairof Precision Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-4672-7155","affiliations":[{"raw_affiliation_string":"Chairof Precision Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031855661","display_name":"Just L. Herder","orcid":"https://orcid.org/0000-0002-2770-0539"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Just L. Herder","raw_affiliation_strings":["Department of Precision and Microsystems Engineering, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-2770-0539","affiliations":[{"raw_affiliation_string":"Department of Precision and Microsystems Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Suzumori","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5735-4956","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067481653"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":3.0485,"has_fulltext":true,"cited_by_count":53,"citation_normalized_percentile":{"value":0.9157137,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"3042","last_page":"3049"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980000257492065,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9939000010490417,"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/actuator","display_name":"Actuator","score":0.8807615041732788},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6626273989677429},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.55865079164505},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.550973117351532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47737452387809753},{"id":"https://openalex.org/keywords/bending-moment","display_name":"Bending moment","score":0.437926322221756},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.43577373027801514},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3820597231388092},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35968565940856934},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2906060218811035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12413159012794495},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.07837158441543579}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8807615041732788},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6626273989677429},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.55865079164505},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.550973117351532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47737452387809753},{"id":"https://openalex.org/C70673446","wikidata":"https://www.wikidata.org/wiki/Q857244","display_name":"Bending moment","level":2,"score":0.437926322221756},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.43577373027801514},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3820597231388092},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35968565940856934},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2906060218811035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12413159012794495},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.07837158441543579},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2020.2975732","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975732","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/09006817.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:ris.utwente.nl:publications/84ef7188-0615-4327-9f30-3f19891f4f2a","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/84ef7188-0615-4327-9f30-3f19891f4f2a","pdf_url":"https://ris.utwente.nl/ws/files/176717897/Tschiersky2020compact.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Tschiersky, M, Hekman, E E G, Brouwer, D M, Herder, J & Suzumori, K 2020, 'A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots', IEEE Robotics and automation letters, vol. 5, no. 2, pp. 3042-3049. https://doi.org/10.1109/LRA.2020.2975732","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ris.utwente.nl:publications/84ef7188-0615-4327-9f30-3f19891f4f2a","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50514533","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100817597","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:tudelft.nl:uuid:9dfe9d89-7aa6-41df-9b4c-f586b718ad23","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:9dfe9d89-7aa6-41df-9b4c-f586b718ad23","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1109/lra.2020.2975732","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975732","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/09006817.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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G7745587290","display_name":null,"funder_award_id":"FY 2019","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8606958131","display_name":null,"funder_award_id":"688857","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3007855608.pdf","grobid_xml":"https://content.openalex.org/works/W3007855608.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W211888945","https://openalex.org/W1878071571","https://openalex.org/W1980905653","https://openalex.org/W1997861712","https://openalex.org/W1998879302","https://openalex.org/W2024095519","https://openalex.org/W2027914312","https://openalex.org/W2054326469","https://openalex.org/W2064452553","https://openalex.org/W2070184318","https://openalex.org/W2102095685","https://openalex.org/W2131293571","https://openalex.org/W2134474159","https://openalex.org/W2141589767","https://openalex.org/W2156378823","https://openalex.org/W2173194528","https://openalex.org/W2276448469","https://openalex.org/W2292482862","https://openalex.org/W2525044314","https://openalex.org/W2611367167","https://openalex.org/W2786005216","https://openalex.org/W2807695615","https://openalex.org/W2810182305","https://openalex.org/W2873075134","https://openalex.org/W2887985348","https://openalex.org/W2894507820","https://openalex.org/W2895231687","https://openalex.org/W2908656040","https://openalex.org/W2932167159","https://openalex.org/W2948019853","https://openalex.org/W4285719527","https://openalex.org/W6608631664","https://openalex.org/W6675386681","https://openalex.org/W6680397938"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2066459308","https://openalex.org/W2191403106","https://openalex.org/W3028163505","https://openalex.org/W1821679985","https://openalex.org/W4382046882"],"abstract_inverted_index":{"In":[0],"this":[1,136],"letter":[2],"we":[3],"demonstrate":[4],"a":[5,22,69,113,122,132,159,168],"pneumatic":[6],"bending":[7],"actuator":[8,26,55,106,137],"for":[9,96,141],"upper-limb":[10,124],"assistive":[11,125],"wearable":[12,126],"robots":[13],"which":[14,88],"uses":[15],"thin":[16],"McKibben":[17,66],"muscles":[18,67],"in":[19,37],"combination":[20],"with":[21],"flexure":[23,58],"strip.":[24],"The":[25],"features":[27],"both":[28],"active":[29],"soft":[30,54],"actuation":[31],"and":[32,36,51,75,94,110,138],"passive":[33],"gravity":[34],"support,":[35],"terms":[38],"of":[39,65,73,103,135,161,177],"force":[40],"transmission":[41],"bridges":[42],"the":[43,46,52,61,80,84,118],"gap":[44],"between":[45],"classic":[47],"rigid":[48],"type":[49],"actuators":[50,90,153],"emerging":[53],"technologies.":[56],"Its":[57],"strip":[59],"leverages":[60],"high-force":[62],"low-displacement":[63],"properties":[64],"towards":[68],"large":[70],"rotational":[71],"range":[72],"motion":[74],"reduces":[76],"localized":[77],"forces":[78],"at":[79,173],"attachments.":[81],"We":[82,144],"explain":[83],"synthesis":[85],"method":[86],"by":[87],"these":[89],"can":[91,154],"be":[92,155],"obtained":[93],"optimized":[95,105],"high":[97],"specific":[98],"moment":[99,169],"output.":[100],"Physical":[101],"specimens":[102],"three":[104],"designs":[107],"are":[108,164],"built":[109,156],"tested":[111],"on":[112,148],"dedicated":[114],"experimental":[115],"setup,":[116],"verifying":[117],"computational":[119],"models.":[120],"Furthermore,":[121],"proof-of-concept":[123],"robot":[127],"is":[128],"presented":[129],"to":[130,166],"illustrate":[131],"practical":[133],"application":[134],"its":[139],"potential":[140],"close-to-body":[142],"alignment.":[143],"found":[145],"that":[146],"based":[147],"our":[149],"currently":[150],"available":[151],"components":[152],"which,":[157],"given":[158],"width":[160],"80":[162],"mm,":[163],"able":[165],"produce":[167],"exceeding":[170],"4":[171],"Nm":[172],"an":[174],"arm":[175],"elevation":[176],"90":[178],"deg.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}
