{"id":"https://openalex.org/W3124253506","doi":"https://doi.org/10.1109/lra.2021.3063704","title":"A Sliding-Rod Variable-Strain Model for Concentric Tube Robots","display_name":"A Sliding-Rod Variable-Strain Model for Concentric Tube Robots","publication_year":2021,"publication_date":"2021-03-03","ids":{"openalex":"https://openalex.org/W3124253506","doi":"https://doi.org/10.1109/lra.2021.3063704","mag":"3124253506"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3063704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3063704","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-03686716","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043823023","display_name":"Federico Renda","orcid":"https://orcid.org/0000-0002-1833-9809"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Federico Renda","raw_affiliation_strings":["Healthcare Engineering Innovation Center, Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, Abu Dhabi, UAE","Khalifa University Center for Autonomous Robotic Systems and the Healthcare Engineering Innovation Center, Khalifa University of Science and Technology, Abu Dhabi, UAE. (Saudi Arabia)"],"raw_orcid":"https://orcid.org/0000-0002-1833-9809","affiliations":[{"raw_affiliation_string":"Healthcare Engineering Innovation Center, Khalifa University Center for Autonomous Robotic Systems, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems and the Healthcare Engineering Innovation Center, Khalifa University of Science and Technology, Abu Dhabi, UAE. (Saudi Arabia)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017509447","display_name":"Conor Messer","orcid":"https://orcid.org/0000-0003-4167-7221"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Conor Messer","raw_affiliation_strings":["Fulbright Student Researcher Program, Khalifa University of Science and Technology, Abu Dhabi, UAE","Khalifa University Center for Autonomous Robotic Systems and the Healthcare Engineering Innovation Center, Khalifa University of Science and Technology, Abu Dhabi, UAE. (Saudi Arabia)"],"raw_orcid":"https://orcid.org/0000-0003-4167-7221","affiliations":[{"raw_affiliation_string":"Fulbright Student Researcher Program, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems and the Healthcare Engineering Innovation Center, Khalifa University of Science and Technology, Abu Dhabi, UAE. (Saudi Arabia)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082291863","display_name":"D. Caleb Rucker","orcid":"https://orcid.org/0000-0001-7181-1933"},"institutions":[{"id":"https://openalex.org/I4210112759","display_name":"Realistic Education in Action Coalition to Foster Health","ror":"https://ror.org/01kah5w88","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210112759"]},{"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":["REACH Laboratory, University of Tennessee, Knoxville, Tennessee","REACH lab, the University of Tennessee, Knoxville, Tennessee (United States)"],"raw_orcid":"https://orcid.org/0000-0001-7181-1933","affiliations":[{"raw_affiliation_string":"REACH Laboratory, University of Tennessee, Knoxville, Tennessee","institution_ids":["https://openalex.org/I4210112759","https://openalex.org/I75027704"]},{"raw_affiliation_string":"REACH lab, the University of Tennessee, Knoxville, Tennessee (United States)","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I205703379","display_name":"Institut Mines-T\u00e9l\u00e9com","ror":"https://ror.org/025vp2923","country_code":"FR","type":"facility","lineage":["https://openalex.org/I205703379"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Frederic Boyer","raw_affiliation_strings":["LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France","IMT Atlantique - DAPI - D\u00e9partement Automatique, Productique et Informatique (IMT Atlantique - Campus de Nantes - La Chantrerie - 4, rue Alfred Kastler - CS 20722 - 44307 NANTES Cedex 3 - France)","LS2N - \u00e9quipe ReV - Robotique Et Vivant (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France","institution_ids":["https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I97188460"]},{"raw_affiliation_string":"IMT Atlantique - DAPI - D\u00e9partement Automatique, Productique et Informatique (IMT Atlantique - Campus de Nantes - La Chantrerie - 4, rue Alfred Kastler - CS 20722 - 44307 NANTES Cedex 3 - France)","institution_ids":["https://openalex.org/I4210127572"]},{"raw_affiliation_string":"LS2N - \u00e9quipe ReV - Robotique Et Vivant (France)","institution_ids":["https://openalex.org/I4210117005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4513,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.79275168,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"3451","last_page":"3458"},"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":0.993399977684021,"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":0.980400025844574,"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/concentric","display_name":"Concentric","score":0.681954562664032},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6250680685043335},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6091164350509644},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6004698276519775},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5178151726722717},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4998788833618164},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4739130735397339},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.45861080288887024},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.42926907539367676},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4241037964820862},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4127132296562195},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3855642080307007},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.34061199426651},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.32424628734588623},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3216129541397095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.23485830426216125},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23410436511039734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08440271019935608}],"concepts":[{"id":"https://openalex.org/C90296322","wikidata":"https://www.wikidata.org/wiki/Q619776","display_name":"Concentric","level":2,"score":0.681954562664032},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6250680685043335},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6091164350509644},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6004698276519775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5178151726722717},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4998788833618164},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4739130735397339},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.45861080288887024},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.42926907539367676},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4241037964820862},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4127132296562195},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3855642080307007},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.34061199426651},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.32424628734588623},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3216129541397095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.23485830426216125},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23410436511039734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08440271019935608},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3063704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3063704","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"},{"id":"pmh:oai:HAL:hal-03686716v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03686716","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3451-3458. ⟨10.1109/LRA.2021.3063704⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03686716v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03686716","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3451-3458. ⟨10.1109/LRA.2021.3063704⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6469640926","display_name":null,"funder_award_id":"AARE-2018-105","funder_id":"https://openalex.org/F4320329011","funder_display_name":"Department of Education and Knowledge"},{"id":"https://openalex.org/G8345998766","display_name":"COSserat theory for SlEnder RObOTS","funder_award_id":"ANR-20-CE33-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320329011","display_name":"Department of Education and Knowledge","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1964102168","https://openalex.org/W2118997958","https://openalex.org/W2119531408","https://openalex.org/W2127143922","https://openalex.org/W2131150943","https://openalex.org/W2134555091","https://openalex.org/W2138564331","https://openalex.org/W2156199850","https://openalex.org/W2179806091","https://openalex.org/W2184993170","https://openalex.org/W2264531174","https://openalex.org/W2323572657","https://openalex.org/W2462654948","https://openalex.org/W2555633778","https://openalex.org/W2890561284","https://openalex.org/W2901701174","https://openalex.org/W2946229936","https://openalex.org/W2993799976","https://openalex.org/W3013796470","https://openalex.org/W3015303069","https://openalex.org/W3034436867","https://openalex.org/W3045935638","https://openalex.org/W3100384722","https://openalex.org/W4229897703"],"related_works":["https://openalex.org/W2032745795","https://openalex.org/W4241659117","https://openalex.org/W2042569643","https://openalex.org/W4252230788","https://openalex.org/W2254998354","https://openalex.org/W4235256213","https://openalex.org/W2048369647","https://openalex.org/W1535456929","https://openalex.org/W2040690891","https://openalex.org/W4206973967"],"abstract_inverted_index":{"In":[0,26],"this":[1],"work,":[2],"the":[3,11,22,28,46,49,55,85,91,97,104,122],"Piecewise":[4],"Variable-strain":[5],"(PVS)":[6],"approach":[7,102],"is":[8,35,110],"applied":[9],"to":[10,20,106,112],"case":[12],"of":[13,41,54,63,74],"Concentric":[14],"Tube":[15],"Robots":[16],"(CTRs)":[17],"and":[18,51,94,116],"extended":[19],"include":[21],"tubes'":[23],"sliding":[24],"motion.":[25],"particular,":[27],"currently":[29],"accepted":[30],"continuous":[31],"Cosserat":[32],"rod":[33],"model":[34],"discretized":[36],"onto":[37],"a":[38,71],"finite":[39],"set":[40,73],"strain":[42],"basis":[43],"functions.":[44],"At":[45],"same":[47],"time,":[48],"insertion":[50],"rotation":[52],"motions":[53],"tubes":[56],"are":[57],"included":[58],"as":[59],"generalized":[60],"coordinates":[61],"instead":[62],"boundary":[64],"kinematic":[65],"conditions.":[66],"Doing":[67],"so,":[68],"we":[69],"obtain":[70],"minimum":[72],"closed-form":[75],"algebraic":[76],"equations":[77],"that":[78],"can":[79],"be":[80],"solved":[81],"not":[82],"only":[83],"for":[84,90,96],"shape":[86],"variables":[87],"but":[88],"also":[89],"actuation":[92],"forces":[93],"torques":[95],"first":[98],"time.":[99],"This":[100],"new":[101],"opens":[103],"way":[105],"torque-controlled":[107],"CTRs,":[108],"which":[109],"poised":[111],"enhance":[113],"elastic":[114],"stability":[115],"improve":[117],"interaction":[118],"forces'":[119],"control":[120],"at":[121],"end-effector.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}