{"id":"https://openalex.org/W4312291041","doi":"https://doi.org/10.1109/lra.2022.3232267","title":"Deployable Soft Origami Modular Robotic Arm With Variable Stiffness Using Facet Buckling","display_name":"Deployable Soft Origami Modular Robotic Arm With Variable Stiffness Using Facet Buckling","publication_year":2022,"publication_date":"2022-12-26","ids":{"openalex":"https://openalex.org/W4312291041","doi":"https://doi.org/10.1109/lra.2022.3232267"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3232267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3232267","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/A5023591042","display_name":"Minjo Park","orcid":"https://orcid.org/0000-0002-5344-0849"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"MinJo Park","raw_affiliation_strings":["Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054163825","display_name":"Woongbae Kim","orcid":"https://orcid.org/0000-0002-6126-7935"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woongbae Kim","raw_affiliation_strings":["Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045062045","display_name":"Sung Yol Yu","orcid":"https://orcid.org/0009-0008-8535-9739"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Yol Yu","raw_affiliation_strings":["Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074202165","display_name":"Jungmin Cho","orcid":"https://orcid.org/0000-0002-3308-5018"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungmin Cho","raw_affiliation_strings":["Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078389374","display_name":"Wonkyeong Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonkyeong Kang","raw_affiliation_strings":["Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103009034","display_name":"Junghwan Byun","orcid":"https://orcid.org/0000-0003-4135-967X"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Junghwan Byun","raw_affiliation_strings":["Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000005502","display_name":"Useok Jeong","orcid":"https://orcid.org/0000-0001-9856-2711"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]},{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Useok Jeong","raw_affiliation_strings":["Robotics R&D Department, Korea Institute of Industrial Technology, University of Science and Technology, and HYU-KITECH, Ansan-si, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Robotics R&D Department, Korea Institute of Industrial Technology, University of Science and Technology, and HYU-KITECH, Ansan-si, Republic of Korea","institution_ids":["https://openalex.org/I89004649","https://openalex.org/I88761825"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyu-Jin Cho","raw_affiliation_strings":["Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Soft Robotics Research Center, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5023591042"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":4.2677,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.95523076,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"2","first_page":"864","last_page":"871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9972000122070312,"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/payload","display_name":"Payload (computing)","score":0.7700610756874084},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7599872350692749},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6541192531585693},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5863734483718872},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.551782488822937},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5478354692459106},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5237272381782532},{"id":"https://openalex.org/keywords/cabin-pressurization","display_name":"Cabin pressurization","score":0.5022609233856201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4441164433956146},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4414559602737427},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44034916162490845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39154815673828125},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33222833275794983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14980602264404297}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7700610756874084},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7599872350692749},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6541192531585693},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5863734483718872},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.551782488822937},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5478354692459106},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5237272381782532},{"id":"https://openalex.org/C104308156","wikidata":"https://www.wikidata.org/wiki/Q2389519","display_name":"Cabin pressurization","level":2,"score":0.5022609233856201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4441164433956146},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4414559602737427},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44034916162490845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39154815673828125},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33222833275794983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14980602264404297},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3232267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3232267","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":0.7200000286102295,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"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":30,"referenced_works":["https://openalex.org/W1492433990","https://openalex.org/W1972136293","https://openalex.org/W1978940390","https://openalex.org/W1984022509","https://openalex.org/W2008385240","https://openalex.org/W2037153256","https://openalex.org/W2049072188","https://openalex.org/W2050835671","https://openalex.org/W2074535625","https://openalex.org/W2149165496","https://openalex.org/W2339027962","https://openalex.org/W2513482041","https://openalex.org/W2528286914","https://openalex.org/W2695450890","https://openalex.org/W2737491236","https://openalex.org/W2746200739","https://openalex.org/W2753534241","https://openalex.org/W2792903561","https://openalex.org/W2896729926","https://openalex.org/W2955589661","https://openalex.org/W2990410878","https://openalex.org/W3000968512","https://openalex.org/W3008124124","https://openalex.org/W3010844811","https://openalex.org/W3035798345","https://openalex.org/W3045785884","https://openalex.org/W3090462370","https://openalex.org/W3139257454","https://openalex.org/W3186511352","https://openalex.org/W4200543271"],"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/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"Robots":[0],"that":[1,154],"share":[2],"activity":[3],"spaces":[4],"or":[5],"physically":[6],"interact":[7],"with":[8,55],"humans":[9],"typically":[10],"benefit":[11],"from":[12],"appropriate":[13],"payload":[14,41],"capacity,":[15],"extensible":[16],"workspace,":[17],"low":[18],"weight,":[19],"safety,":[20],"and":[21,28,60,100,107,121,176],"space":[22],"efficiency.":[23],"The":[24,65],"soft":[25,51,167,197],"origami":[26,52,106],"design":[27,193],"mechanism":[29],"can":[30],"meet":[31],"many":[32],"of":[33,67,147,174],"these":[34],"beneficial":[35],"factors;":[36],"however,":[37],"achieving":[38],"a":[39,50,70,96,156,166,191],"high":[40,56],"capacity":[42,85],"remains":[43],"challenging.":[44],"In":[45],"this":[46],"letter,":[47],"we":[48,131],"developed":[49,120],"arm":[53,79,153,158],"module":[54],"variable":[57],"stiffness":[58],"(x300)":[59],"spatial":[61,184],"efficiency":[62],"(compressed":[63],"x3.1).":[64],"buckling":[66],"facets":[68],"into":[69],"cylindrical":[71],"tube":[72],"followed":[73],"by":[74],"its":[75,178],"pressurization":[76],"enables":[77],"the":[78,89,102,124,145,148],"to":[80,109,123,143,161],"be":[81],"highly":[82],"stiffened.":[83],"High-pressure":[84],"was":[86,119,159,186],"obtained":[87],"via":[88],"sewing-heat":[90],"press":[91],"fabrication":[92],"process.":[93],"We":[94],"used":[95],"pneumatic":[97],"pressure\u2013tendon":[98],"pair":[99],"utilized":[101],"frictional":[103],"force":[104],"between":[105],"tendon":[108],"prevent":[110],"unintentional":[111],"gravity-induced":[112],"deformation":[113],"while":[114],"deploying.":[115],"An":[116],"analytical":[117],"model":[118],"compared":[122],"experimental":[125],"results.":[126],"With":[127],"our":[128],"modular":[129],"design,":[130],"could":[132,170],"easily":[133],"build":[134],"functional":[135],"robotic":[136,139,152,198],"structures.":[137],"Two":[138],"demonstrations":[140],"were":[141],"performed":[142],"examine":[144],"expandability":[146],"modules.":[149],"A":[150],"variable-length":[151],"mimics":[155],"human":[157],"built":[160],"manipulate":[162],"typical":[163],"objects.":[164],"Additionally,":[165],"rover,":[168],"which":[169],"carry":[171],"14":[172],"kg":[173],"weight":[175],"change":[177],"volume":[179],"29":[180],"times":[181],"for":[182,195],"improved":[183],"efficiency,":[185],"developed.":[187],"This":[188],"research":[189],"suggests":[190],"new":[192],"methodology":[194],"practical":[196],"systems.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":8}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}