{"id":"https://openalex.org/W4285208899","doi":"https://doi.org/10.1109/lra.2022.3171917","title":"Design and Analysis of a Novel Variable Stiffness Continuum Robot With Built-in Winding-Styled Ropes","display_name":"Design and Analysis of a Novel Variable Stiffness Continuum Robot With Built-in Winding-Styled Ropes","publication_year":2022,"publication_date":"2022-05-03","ids":{"openalex":"https://openalex.org/W4285208899","doi":"https://doi.org/10.1109/lra.2022.3171917"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3171917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3171917","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/A5066732115","display_name":"Peiyi Wang","orcid":"https://orcid.org/0000-0002-6010-6427"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiyi Wang","raw_affiliation_strings":["Robotics Research Center, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6010-6427","affiliations":[{"raw_affiliation_string":"Robotics Research Center, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687095","display_name":"Sheng Guo","orcid":"https://orcid.org/0000-0001-6746-9274"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Guo","raw_affiliation_strings":["Robotics Research Center, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6746-9274","affiliations":[{"raw_affiliation_string":"Robotics Research Center, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100755820","display_name":"Xiangyang Wang","orcid":"https://orcid.org/0000-0002-3907-0618"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Wang","raw_affiliation_strings":["Robotics Research Center, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Center, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011150336","display_name":"Yifan Wu","orcid":"https://orcid.org/0000-0002-9725-9857"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Wu","raw_affiliation_strings":["Robotics Research Center, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9725-9857","affiliations":[{"raw_affiliation_string":"Robotics Research Center, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":2.8581,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.91622644,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"3","first_page":"6375","last_page":"6382"},"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":0.9918000102043152,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9708999991416931,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7738787531852722},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.5578055381774902},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.5543246269226074},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.5400678515434265},{"id":"https://openalex.org/keywords/cantilever","display_name":"Cantilever","score":0.5049057602882385},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.502839982509613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48577216267585754},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.47991999983787537},{"id":"https://openalex.org/keywords/wire-rope","display_name":"Wire rope","score":0.45666059851646423},{"id":"https://openalex.org/keywords/tension","display_name":"Tension (geology)","score":0.4528067111968994},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3892454206943512},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3633441925048828},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2938250005245209},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2929781973361969},{"id":"https://openalex.org/keywords/compression","display_name":"Compression (physics)","score":0.18290063738822937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10952311754226685},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.10606938600540161},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07038483023643494}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7738787531852722},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5578055381774902},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.5543246269226074},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.5400678515434265},{"id":"https://openalex.org/C141354745","wikidata":"https://www.wikidata.org/wiki/Q17227","display_name":"Cantilever","level":2,"score":0.5049057602882385},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.502839982509613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48577216267585754},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.47991999983787537},{"id":"https://openalex.org/C2781373598","wikidata":"https://www.wikidata.org/wiki/Q552034","display_name":"Wire rope","level":2,"score":0.45666059851646423},{"id":"https://openalex.org/C186068551","wikidata":"https://www.wikidata.org/wiki/Q13255585","display_name":"Tension (geology)","level":3,"score":0.4528067111968994},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3892454206943512},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3633441925048828},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2938250005245209},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2929781973361969},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.18290063738822937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10952311754226685},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.10606938600540161},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07038483023643494},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3171917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3171917","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":[],"awards":[{"id":"https://openalex.org/G4747080995","display_name":null,"funder_award_id":"2021YJS137","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5763217966","display_name":null,"funder_award_id":"51875033","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1024591929","https://openalex.org/W1976270646","https://openalex.org/W2015106839","https://openalex.org/W2027001596","https://openalex.org/W2053614949","https://openalex.org/W2059944434","https://openalex.org/W2067873889","https://openalex.org/W2074535625","https://openalex.org/W2077568148","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2133231729","https://openalex.org/W2138564331","https://openalex.org/W2146031911","https://openalex.org/W2147510173","https://openalex.org/W2168393068","https://openalex.org/W2183846737","https://openalex.org/W2278147799","https://openalex.org/W2404539446","https://openalex.org/W2739012036","https://openalex.org/W2765594015","https://openalex.org/W2773367425","https://openalex.org/W2895232491","https://openalex.org/W2911852994","https://openalex.org/W2918520731","https://openalex.org/W2951208783","https://openalex.org/W2967651136","https://openalex.org/W2969830272","https://openalex.org/W2987061965","https://openalex.org/W3003845873","https://openalex.org/W3006361381","https://openalex.org/W3017043291","https://openalex.org/W3045901907"],"related_works":["https://openalex.org/W2240404672","https://openalex.org/W2744612160","https://openalex.org/W2089457653","https://openalex.org/W2368486505","https://openalex.org/W1986752515","https://openalex.org/W4252077727","https://openalex.org/W2626373589","https://openalex.org/W2079323691","https://openalex.org/W2382235839","https://openalex.org/W2153672924"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,36],"driven":[2],"by":[3,54,86,143],"rods":[4],"have":[5,37],"a":[6,50,65,80,164,175],"wide":[7],"range":[8],"of":[9,24,42,64,151,156,167,179],"applications,":[10],"such":[11],"as":[12],"detection":[13],"and":[14,93,121,170],"maintenance":[15],"tasks":[16],"in":[17,44],"unstructured":[18],"environments.":[19],"However,":[20],"their":[21,28],"inherent":[22],"nature":[23],"flexibility":[25],"also":[26],"limits":[27],"function.":[29],"Thus,":[30],"variable":[31,81,154],"stiffness":[32,82,138,155,166,177],"mechanisms":[33],"for":[34],"continuum":[35,67],"consistently":[38],"attracted":[39],"the":[40,61,76,88,91,104,109,114,123,129,137,144,149,153,157],"attention":[41],"researchers":[43],"recent":[45],"years.":[46],"In":[47],"this":[48,172],"letter,":[49],"winding-styled":[51],"rope":[52],"inspired":[53],"snakes\u2019":[55],"behavior":[56],"is":[57,99,140,159],"first":[58],"built":[59],"into":[60],"constraint":[62],"disk":[63],"rod-driven":[66],"robot.":[68],"Combined":[69],"with":[70],"shape":[71,173],"memory":[72],"alloy":[73],"(SMA)":[74],"spring,":[75],"winding":[77],"ropes":[78,92],"perform":[79],"or":[83],"\u2018lock\u2019":[84],"function":[85],"adjusting":[87],"friction":[89,98],"between":[90,117],"rods.":[94],"A":[95],"maximum":[96,165,176],"static":[97],"up":[100],"to":[101,108],"2":[102],"times":[103],"spring":[105,119],"tension":[106,120],"according":[107],"test":[110],"results.":[111],"Based":[112],"on":[113],"fitting":[115],"relationship":[116],"SMA":[118],"friction,":[122],"established":[124],"kinetostatics":[125],"model":[126],"can":[127],"predict":[128],"manipulator":[130,158],"configuration.":[131],"Furthermore,":[132],"comparative":[133],"experiments":[134],"proved":[135],"that":[136,171],"change":[139],"mainly":[141],"caused":[142],"proposed":[145],"mechanism.":[146],"By":[147],"controlling":[148],"temperature":[150],"SMA,":[152],"achieved.":[160],"The":[161],"C-shape":[162],"has":[163,174],"0.03505":[168],"N/mm":[169],"increase":[178],"300%.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
