{"id":"https://openalex.org/W4210301901","doi":"https://doi.org/10.1109/lra.2022.3145968","title":"Variable Stiffness Robotic Hand Driven by Twisted-Coiled Polymer Actuators","display_name":"Variable Stiffness Robotic Hand Driven by Twisted-Coiled Polymer Actuators","publication_year":2022,"publication_date":"2022-01-25","ids":{"openalex":"https://openalex.org/W4210301901","doi":"https://doi.org/10.1109/lra.2022.3145968"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3145968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145968","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/A5053680137","display_name":"Tuan Luong","orcid":"https://orcid.org/0000-0001-5490-4337"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Tuan Luong","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101953942","display_name":"Sungwon Seo","orcid":"https://orcid.org/0000-0001-7862-7936"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungwon Seo","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054373981","display_name":"Jure Hudoklin","orcid":"https://orcid.org/0000-0002-5146-9816"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jure Hudoklin","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044372267","display_name":"Ja Choon Koo","orcid":"https://orcid.org/0000-0003-0960-1307"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ja Choon Koo","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeok Ryoul Choi","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5053680137"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":2.0846,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.85563505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"3178","last_page":"3185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9993000030517578,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9983999729156494,"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/stiffness","display_name":"Stiffness","score":0.7296319007873535},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.7053971290588379},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.682459831237793},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5595951080322266},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.5564876198768616},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4680611193180084},{"id":"https://openalex.org/keywords/thermoplastic-polyurethane","display_name":"Thermoplastic polyurethane","score":0.45618736743927},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4545151889324188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3586559593677521},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35269153118133545},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3144015669822693},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28608083724975586},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2823623716831207},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2504599094390869},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.22544974088668823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21329379081726074},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2101893126964569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1693735420703888},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.14733794331550598}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7296319007873535},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.7053971290588379},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.682459831237793},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5595951080322266},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.5564876198768616},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4680611193180084},{"id":"https://openalex.org/C2777069470","wikidata":"https://www.wikidata.org/wiki/Q7783228","display_name":"Thermoplastic polyurethane","level":3,"score":0.45618736743927},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4545151889324188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3586559593677521},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35269153118133545},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3144015669822693},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28608083724975586},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2823623716831207},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2504599094390869},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.22544974088668823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21329379081726074},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2101893126964569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1693735420703888},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.14733794331550598},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3145968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145968","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":[{"id":"https://metadata.un.org/sdg/7","score":0.7099999785423279,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6521700843","display_name":null,"funder_award_id":"2020R1A4A1018227","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2005806111","https://openalex.org/W2070662831","https://openalex.org/W2099745515","https://openalex.org/W2117402460","https://openalex.org/W2156301357","https://openalex.org/W2288308464","https://openalex.org/W2339724984","https://openalex.org/W2341967407","https://openalex.org/W2346826940","https://openalex.org/W2496064859","https://openalex.org/W2574163510","https://openalex.org/W2583477346","https://openalex.org/W2586816947","https://openalex.org/W2742559061","https://openalex.org/W2773554416","https://openalex.org/W2773901443","https://openalex.org/W2782248275","https://openalex.org/W2888064938","https://openalex.org/W2889304174","https://openalex.org/W2892672182","https://openalex.org/W2910811534","https://openalex.org/W2946870880","https://openalex.org/W2947471183","https://openalex.org/W2971651839","https://openalex.org/W3048231269","https://openalex.org/W3122056155","https://openalex.org/W3133252882","https://openalex.org/W3134104432","https://openalex.org/W3150395494","https://openalex.org/W3160278691","https://openalex.org/W4210982236"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2897047965"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,18,134,138,158,166],"variable":[4,168],"stiffness":[5,90,101],"robotic":[6,154],"hand":[7,31,104,155,176],"driven":[8],"by":[9,34,48,96,108],"twisted-coiled":[10],"polymer":[11],"actuators":[12],"(TCAs)":[13],"connected":[14],"in":[15,58],"series":[16],"with":[17,76,143,177],"servomotor.":[19],"Unlike":[20],"slow":[21],"conventional":[22],"TCA":[23,128],"systems,":[24],"the":[25,29,35,39,50,52,89,100,103,110,113,124,127,172,175,190],"grasping":[26],"motion":[27],"of":[28,41,79,91,102,112,126,140,148,160,174],"proposed":[30,153],"is":[32],"realized":[33,107],"servomotor,":[36,51],"which":[37,71],"improves":[38],"speed":[40],"actuation":[42],"significantly.":[43],"It":[44],"was":[45],"shown":[46],"that":[47],"using":[49,85,183],"rise":[53],"time":[54,57],"and":[55,66,82,121,163],"settling":[56],"set-point":[59],"regulation":[60],"control":[61,119],"were":[62,72],"<inline-formula><tex-math":[63,67],"notation=\"LaTeX\">$\\text{0.1}\\;{\\mathrm":[64],"{s}}$</tex-math></inline-formula>":[65],"notation=\"LaTeX\">$\\text{0.33}\\;{\\mathrm":[68],"{s}}$</tex-math></inline-formula>,":[69],"respectively,":[70],"significantly":[73],"improved":[74],"compared":[75],"those":[77],"results":[78],"3.26":[80],"s":[81,84],"12.40":[83],"TCAs":[86,92],"only.":[87],"Since":[88],"can":[93,105,129,156],"be":[94,106,130],"changed":[95],"varying":[97],"their":[98],"temperature,":[99],"changing":[109],"temperature":[111,125],"TCA.":[114],"By":[115],"applying":[116],"model":[117],"predictive":[118],"(MPC)":[120],"active":[122],"cooling,":[123],"controlled":[131],"to":[132],"follow":[133],"sinusoidal":[135],"waveform":[136],"at":[137],"frequency":[139],"0.1":[141],"Hz":[142],"an":[144],"average":[145],"steady-state":[146],"error":[147],"0.9":[149],"Celsius":[150],"degrees.":[151],"The":[152],"grasp":[157],"load":[159],"80":[161],"g":[162],"approximately":[164],"achieve":[165],"5-fold":[167],"stiffness.":[169],"In":[170],"addition,":[171],"fingers":[173],"soft":[178],"joints":[179],"are":[180],"fully":[181],"made":[182],"flexible":[184],"thermoplastic":[185],"polyurethane":[186],"(TPU),":[187],"therefore":[188],"reducing":[189],"need":[191],"for":[192],"complex":[193],"assembly":[194],"processes.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
