{"id":"https://openalex.org/W4210468288","doi":"https://doi.org/10.1109/lra.2022.3144798","title":"A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback","display_name":"A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback","publication_year":2022,"publication_date":"2022-01-25","ids":{"openalex":"https://openalex.org/W4210468288","doi":"https://doi.org/10.1109/lra.2022.3144798"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3144798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3144798","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/A5052750855","display_name":"Sophia R. Williams","orcid":"https://orcid.org/0000-0002-0236-3054"},"institutions":[{"id":"https://openalex.org/I4210126952","display_name":"Auris Health (United States)","ror":"https://ror.org/03bjyp708","country_code":"US","type":"company","lineage":["https://openalex.org/I4210126952"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sophia R. Williams","raw_affiliation_strings":["Auris Health, Inc., Redwood City, CA, USA","Electrical Engineering Department, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0236-3054","affiliations":[{"raw_affiliation_string":"Auris Health, Inc., Redwood City, CA, USA","institution_ids":["https://openalex.org/I4210126952"]},{"raw_affiliation_string":"Electrical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007776808","display_name":"Jacob M. Suchoski","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161447","display_name":"Intuitive Surgical (United States)","ror":"https://ror.org/05g2n4m79","country_code":"US","type":"company","lineage":["https://openalex.org/I4210161447"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob M. Suchoski","raw_affiliation_strings":["Intuitive Surgical, Inc., Sunnyvale, CA, USA","Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intuitive Surgical, Inc., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I4210161447"]},{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082074188","display_name":"Zonghe Chua","orcid":"https://orcid.org/0000-0002-6101-5412"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zonghe Chua","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6101-5412","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Mechanical Engineering Department, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6912-1666","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3771,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.88892423,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"3310","last_page":"3317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9894999861717224,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9882000088691711,"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/haptic-technology","display_name":"Haptic technology","score":0.8309202194213867},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8084752559661865},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.5579163432121277},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.5157647132873535},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5046745538711548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41225260496139526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3391963243484497},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3321390151977539},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.27836042642593384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22246763110160828},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2128840982913971},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1763351857662201},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10741680860519409},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.08819770812988281}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8309202194213867},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8084752559661865},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.5579163432121277},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5157647132873535},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5046745538711548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41225260496139526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3391963243484497},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3321390151977539},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27836042642593384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22246763110160828},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2128840982913971},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1763351857662201},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10741680860519409},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.08819770812988281},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3144798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3144798","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6299999952316284}],"awards":[{"id":"https://openalex.org/G2501775256","display_name":null,"funder_award_id":"1830163","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8178084227","display_name":null,"funder_award_id":"1812966","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320333063","display_name":"Stanford Bio-X","ror":"https://ror.org/00f54p054"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1530280653","https://openalex.org/W1604971048","https://openalex.org/W2092679592","https://openalex.org/W2100790457","https://openalex.org/W2112420768","https://openalex.org/W2129504387","https://openalex.org/W2144571703","https://openalex.org/W2155729579","https://openalex.org/W2157384621","https://openalex.org/W2337591881","https://openalex.org/W2396363971","https://openalex.org/W2561042675","https://openalex.org/W2590282156","https://openalex.org/W2610929834","https://openalex.org/W2612110125","https://openalex.org/W2944893098","https://openalex.org/W2948605988","https://openalex.org/W2995188783","https://openalex.org/W3191559665","https://openalex.org/W6622224240","https://openalex.org/W6631678502","https://openalex.org/W6638134809"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380"],"abstract_inverted_index":{"We":[0,72],"present":[1],"a":[2,17,97,133],"finger-mounted":[3],"4-degree-of-freedom":[4],"(DoF)":[5],"haptic":[6,30,109],"device":[7,15,61,70,106,142,162],"created":[8],"using":[9],"origami":[10,63],"fabrication":[11,39],"techniques.":[12],"The":[13,83],"4-DoF":[14],"uses":[16,62],"parallel":[18],"kinematic":[19],"mechanism":[20],"and":[21,28,53,69,77,139],"is":[22,51],"capable":[23],"of":[24,37,80,85,92,119,167],"delivering":[25],"normal,":[26],"shear,":[27],"torsional":[29],"feedback":[31,110],"to":[32,55,66,132],"the":[33,74,81,86,89,105,136,141,146,161],"fingertip.":[34],"Traditional":[35],"methods":[36],"robot":[38],"are":[40,94],"not":[41],"well":[42],"suited":[43],"for":[44],"designing":[45],"small":[46],"robotic":[47],"devices":[48],"because":[49],"it":[50],"challenging":[52],"expensive":[54],"manufacture":[56],"small,":[57],"low-friction":[58],"joints.":[59],"Our":[60,101],"manufacturing":[64],"principles":[65],"reduce":[67],"complexity":[68],"footprint.":[71],"characterize":[73],"bandwidth,":[75],"workspace,":[76],"force":[78,138],"output":[79],"device.":[82],"capabilities":[84],"device,":[87],"particularly":[88],"torsion":[90],"degree":[91],"freedom,":[93],"demonstrated":[95],"in":[96,111,145],"virtual":[98],"reality":[99],"scenario.":[100],"results":[102],"show":[103],"that":[104],"can":[107,143],"deliver":[108],"4":[112],"DoFs":[113],"with":[114],"an":[115,164],"effective":[116],"operational":[117],"workspace":[118],"0.64":[120],"cm$^3$with$\\mathbf":[121],"{\\pm":[122],"30":[123],"^":[124],"\\circ":[125],"}$rotation":[126],"at":[127],"every":[128],"location.":[129],"When":[130],"isolated":[131],"single":[134],"DoF,":[135],"maximum":[137],"torque":[140],"apply":[144],"x-,":[147],"y-,":[148],"z-,":[149],"and$\\boldsymbol{\\theta":[150],"}$-directions":[151],"are$\\pm$1.0":[152],"N,$\\pm$1.25":[153],"N,":[154,156],"1.6":[155],"and$\\pm$5":[157],"N$\\mathbf":[158],"{\\cdot":[159],"}$mm;":[160],"has":[163],"operating":[165],"bandwidth":[166],"9":[168],"Hz.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}