{"id":"https://openalex.org/W3014113596","doi":"https://doi.org/10.1109/lra.2020.2983679","title":"Radial-Layer Jamming Mechanism for String Configuration","display_name":"Radial-Layer Jamming Mechanism for String Configuration","publication_year":2020,"publication_date":"2020-03-30","ids":{"openalex":"https://openalex.org/W3014113596","doi":"https://doi.org/10.1109/lra.2020.2983679","mag":"3014113596"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2983679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983679","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/A5017196290","display_name":"Rio Mukaide","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rio Mukaide","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015409351","display_name":"Masahiro WATANABE","orcid":"https://orcid.org/0000-0002-6675-4214"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Watanabe","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6675-4214","affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2035-0617","affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102970988","display_name":"Yu Ozawa","orcid":"https://orcid.org/0000-0002-2182-9403"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yu Ozawa","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011754844","display_name":"Tomoya Takahashi","orcid":"https://orcid.org/0000-0003-0919-2312"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoya Takahashi","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0919-2312","affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Konyo","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6826-9722","affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku university, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5571-4276","affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku university, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":1.0242,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.73048352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"4","first_page":"5221","last_page":"5228"},"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":0.9957000017166138,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9866999983787537,"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/jamming","display_name":"Jamming","score":0.8361144065856934},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6826183795928955},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6762579679489136},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5936400890350342},{"id":"https://openalex.org/keywords/stiffening","display_name":"Stiffening","score":0.4590664207935333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42798474431037903},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.42612987756729126},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.42328062653541565},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39891675114631653},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.348173588514328},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32946377992630005},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16166257858276367}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8361144065856934},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6826183795928955},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6762579679489136},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5936400890350342},{"id":"https://openalex.org/C108729823","wikidata":"https://www.wikidata.org/wiki/Q3716064","display_name":"Stiffening","level":2,"score":0.4590664207935333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42798474431037903},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.42612987756729126},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.42328062653541565},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39891675114631653},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.348173588514328},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32946377992630005},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16166257858276367},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2983679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983679","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/G1320143909","display_name":null,"funder_award_id":"18H05471","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"},{"id":"https://openalex.org/G7151261865","display_name":null,"funder_award_id":"18H05471","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W1847353717","https://openalex.org/W1971122160","https://openalex.org/W2004967763","https://openalex.org/W2007924815","https://openalex.org/W2010569445","https://openalex.org/W2013792034","https://openalex.org/W2020635539","https://openalex.org/W2054583192","https://openalex.org/W2056191762","https://openalex.org/W2074535625","https://openalex.org/W2077029242","https://openalex.org/W2080551943","https://openalex.org/W2092391367","https://openalex.org/W2094596736","https://openalex.org/W2111866551","https://openalex.org/W2118585523","https://openalex.org/W2284910182","https://openalex.org/W2413007733","https://openalex.org/W2518073382","https://openalex.org/W2746752553","https://openalex.org/W2763137514","https://openalex.org/W2792966616","https://openalex.org/W2933853062","https://openalex.org/W6655636319"],"related_works":["https://openalex.org/W2121188127","https://openalex.org/W2911174503","https://openalex.org/W2220185659","https://openalex.org/W1606846501","https://openalex.org/W1501306699","https://openalex.org/W2902316363","https://openalex.org/W2415813866","https://openalex.org/W4376605790","https://openalex.org/W4298095203","https://openalex.org/W4312233243"],"abstract_inverted_index":{"In":[0,102],"the":[1,54,57,60,68,79,88,92,103,135,142,146,150,165,169,173,176,180,186,201,216,227],"soft":[2,5],"robotics":[3],"field,":[4],"structures":[6,21,131,162,213],"are":[7,22,99,132],"required":[8],"for":[9,24],"safe":[10],"human":[11],"interactions,":[12],"adaptive":[13],"shape":[14],"grippers,":[15],"and":[16,29,45,70,91,96,134,148],"haptic":[17],"interfaces.":[18],"Conversely,":[19],"rigid":[20,76],"necessary":[23],"high":[25,125],"force":[26,171,199],"transmission":[27],"devices":[28],"precise":[30],"position":[31],"control":[32,164],"applications.":[33],"The":[34,156,197],"tunable":[35],"stiffness":[36,233],"mechanism":[37,83,111],"is":[38,138],"a":[39,63,85,107,115],"crucial":[40],"technology":[41],"in":[42,87],"such":[43],"areas,":[44],"various":[46,231],"methods":[47],"were":[48],"proposed.":[49],"Extant":[50],"studies":[51],"examine":[52],"fixing":[53],"segments":[55],"of":[56,62,145,172,200,218,230],"string":[58],"by":[59,168],"tension":[61],"tendon":[64],"to":[65,113,211,226],"instantly":[66],"stiffen":[67],"structure":[69],"they":[71],"can":[72,123,163,184,224],"be":[73],"constituted":[74],"with":[75,118],"materials.":[77],"However,":[78],"conventional":[80],"wire":[81],"tensioning":[82],"exhibits":[84],"limitation":[86],"holding":[89,126,143,166,198],"torque,":[90],"optimum":[93],"segment":[94,130],"morphology":[95],"stiffening":[97],"performance":[98,228],"not":[100,206],"clear.":[101],"study,":[104],"we":[105],"demonstrate":[106],"new":[108],"tendon-driven":[109],"jamming":[110,183,204],"referred":[112],"as":[114,188],"\u201cradial-layer":[116],"jamming\u201d":[117],"multiple":[119],"layered":[120,222],"joints":[121,147,187,219],"that":[122,159,179,235],"realize":[124],"torque.":[127],"Three":[128],"basic":[129],"presented,":[133],"design":[136],"method":[137],"demonstrated.":[139],"We":[140],"measured":[141],"torque":[144,151,167],"compared":[149,210],"between":[152],"three":[153,161],"different":[154],"designs.":[155],"results":[157],"indicate":[158],"all":[160],"pulling":[170],"wire.":[174],"Furthermore,":[175],"findings":[177],"suggest":[178],"radial":[181,202],"layer":[182,203],"maintain":[185],"fixed":[189],"even":[190,214],"if":[191,215],"it":[192],"has":[193],"an":[194],"extended":[195],"structure.":[196],"did":[205],"significantly":[207],"decrease":[208],"when":[209],"other":[212],"number":[217],"increased.":[220],"These":[221],"approaches":[223],"contribute":[225],"improvement":[229],"variable":[232],"mechanisms":[234],"utilize":[236],"friction.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}