{"id":"https://openalex.org/W4312596032","doi":"https://doi.org/10.1109/lra.2022.3229225","title":"Enhancing the Tensile-Shaping Stability of Soft Elongation Actuators for Grasping Applications","display_name":"Enhancing the Tensile-Shaping Stability of Soft Elongation Actuators for Grasping Applications","publication_year":2022,"publication_date":"2022-12-14","ids":{"openalex":"https://openalex.org/W4312596032","doi":"https://doi.org/10.1109/lra.2022.3229225"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3229225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3229225","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/A5031448465","display_name":"Ling-Jie Gai","orcid":"https://orcid.org/0000-0002-7703-3957"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ling-Jie Gai","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intellignet, Automation for Complex System, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-7703-3957","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intellignet, Automation for Complex System, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012448969","display_name":"Xiaofeng Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofeng Zong","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intellignet, Automation for Complex System, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-9486-5264","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intellignet, Automation for Complex System, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102868842","display_name":"Jie Huang","orcid":"https://orcid.org/0000-0003-3778-3902"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Huang","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intellignet, Automation for Complex System, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3778-3902","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intellignet, Automation for Complex System, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031448465"],"corresponding_institution_ids":["https://openalex.org/I3124059619","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.8993,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.70535237,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"8","issue":"2","first_page":"600","last_page":"607"},"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":0.9975000023841858,"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":0.9954000115394592,"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/actuator","display_name":"Actuator","score":0.8104430437088013},{"id":"https://openalex.org/keywords/elongation","display_name":"Elongation","score":0.7180164456367493},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6780956983566284},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6038711071014404},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6036573648452759},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5008809566497803},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.47980383038520813},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4661124348640442},{"id":"https://openalex.org/keywords/ultimate-tensile-strength","display_name":"Ultimate tensile strength","score":0.4527944326400757},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.41002917289733887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3753671944141388},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3589760661125183},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3535435199737549},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33973562717437744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3287650942802429},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.27960753440856934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22942021489143372},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.15014368295669556},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07177641987800598},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06405702233314514}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8104430437088013},{"id":"https://openalex.org/C33947775","wikidata":"https://www.wikidata.org/wiki/Q271439","display_name":"Elongation","level":3,"score":0.7180164456367493},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6780956983566284},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6038711071014404},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6036573648452759},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5008809566497803},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.47980383038520813},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4661124348640442},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.4527944326400757},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.41002917289733887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3753671944141388},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3589760661125183},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3535435199737549},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33973562717437744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3287650942802429},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.27960753440856934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22942021489143372},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.15014368295669556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07177641987800598},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06405702233314514},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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.2022.3229225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3229225","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":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G401193838","display_name":null,"funder_award_id":"2022CFA041","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G4387221199","display_name":null,"funder_award_id":"62073305","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/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2007924815","https://openalex.org/W2054628872","https://openalex.org/W2518073382","https://openalex.org/W2577404187","https://openalex.org/W2794141247","https://openalex.org/W2905335417","https://openalex.org/W2908872833","https://openalex.org/W2925266131","https://openalex.org/W2963801037","https://openalex.org/W2970214639","https://openalex.org/W2973761438","https://openalex.org/W2999228329","https://openalex.org/W3014315853","https://openalex.org/W3015155535","https://openalex.org/W3027217602","https://openalex.org/W3036752555","https://openalex.org/W3038216440","https://openalex.org/W3115849024","https://openalex.org/W3128795238","https://openalex.org/W3136827180","https://openalex.org/W3138732012","https://openalex.org/W3163582502","https://openalex.org/W3170640696","https://openalex.org/W3178836507","https://openalex.org/W3183827432","https://openalex.org/W4210523755","https://openalex.org/W4214859434","https://openalex.org/W4280572501","https://openalex.org/W4283744480","https://openalex.org/W4293067754"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W3206105843","https://openalex.org/W4376605699"],"abstract_inverted_index":{"Soft":[0],"elongation":[1,54,74,101,130],"actuators":[2],"are":[3,21],"widely":[4],"applied":[5],"in":[6,24,66,159],"soft":[7,53,73,100,112,129,141],"robotic":[8],"grippers,":[9],"providing":[10],"a":[11,36,110],"promising":[12],"solution":[13],"to":[14,43],"adjust":[15],"the":[16,45,49,72,87,99,118,128,140],"grasping":[17,119,123],"range.":[18],"However,":[19],"there":[20],"some":[22],"limitations":[23],"keeping":[25],"their":[26],"tensile":[27],"shaping":[28],"stability":[29],"under":[30],"high":[31],"payloads.":[32],"This":[33],"work":[34,107],"presents":[35],"universal":[37],"variable":[38,93,104],"stiffness":[39],"mechanism":[40,58],"called":[41],"Cross-Fibre":[42,133],"reduce":[44],"deformation":[46],"and":[47,89,121,139,162],"improve":[48],"load-bearing":[50],"capacity":[51],"of":[52,61],"actuators.":[55],"The":[56,76],"proposed":[57],"is":[59],"composed":[60],"two":[62],"symmetrical":[63],"fibre":[64,77],"loops":[65],"an":[67],"up-and-down":[68],"crossed":[69],"arrangement":[70],"around":[71],"actuator.":[75],"media":[78],"on":[79,98],"both":[80],"sides":[81],"can":[82,143],"be":[83],"stretched":[84],"compliantly":[85],"with":[86,103,132],"actuator,":[88],"thus":[90],"achieve":[91],"global":[92],"stiffness.":[94],"In":[95],"addition,":[96],"based":[97],"actuator":[102,131],"stiffness,":[105],"this":[106],"also":[108],"develops":[109],"novel":[111],"gripper":[113,142],"prototype":[114],"for":[115],"automatically":[116],"adjusting":[117],"range":[120],"enhancing":[122],"applications.":[124],"Experiments":[125],"demonstrate":[126],"that":[127],"effect":[134],"has":[135],"strong":[136],"tensile-shaping":[137],"ability,":[138],"stably":[144],"grasp":[145],"objects":[146],"weighting":[147],"more":[148],"than":[149],"1700":[150],"g.":[151],"Such":[152],"efficient":[153],"performance":[154],"will":[155],"promote":[156],"various":[157],"applications":[158],"daily":[160],"life":[161],"industry.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
