{"id":"https://openalex.org/W4391992542","doi":"https://doi.org/10.1109/lra.2024.3368235","title":"A Soft Finger With Tensile Variable Stiffness Based on the Cross-Sliding Jamming Mechanism","display_name":"A Soft Finger With Tensile Variable Stiffness Based on the Cross-Sliding Jamming Mechanism","publication_year":2024,"publication_date":"2024-02-21","ids":{"openalex":"https://openalex.org/W4391992542","doi":"https://doi.org/10.1109/lra.2024.3368235"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3368235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3368235","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/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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"]}],"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 Intelligent Automation for Complex System, Ministry of Education, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China"],"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 Intelligent Automation for Complex System, Ministry of Education, Wuhan, China","institution_ids":[]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102868842","display_name":"Jie Huang","orcid":"https://orcid.org/0000-0003-3778-3902"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Huang","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320700","display_name":"Yuanyuan Zhang","orcid":"https://orcid.org/0000-0003-4734-4356"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Zhang","raw_affiliation_strings":["School of Aerospace Engineering, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012448969","display_name":"Xiaofeng Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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"]}],"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, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System, Ministry of Education, Wuhan, China"],"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, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System, Ministry of Education, Wuhan, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063687142","display_name":"Huafeng Ding","orcid":"https://orcid.org/0000-0002-1003-0321"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huafeng Ding","raw_affiliation_strings":["School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031448465"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I3124059619"],"apc_list":null,"apc_paid":null,"fwci":2.9054,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90542306,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"4","first_page":"3427","last_page":"3434"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8754000067710876,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8754000067710876,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.8568000197410583,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.8173999786376953,"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/jamming","display_name":"Jamming","score":0.8488044738769531},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7466033101081848},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5471704006195068},{"id":"https://openalex.org/keywords/ultimate-tensile-strength","display_name":"Ultimate tensile strength","score":0.5019209384918213},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4010792076587677},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.38026508688926697},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.25414758920669556},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23034897446632385},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2052915096282959}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8488044738769531},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7466033101081848},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5471704006195068},{"id":"https://openalex.org/C112950240","wikidata":"https://www.wikidata.org/wiki/Q76005","display_name":"Ultimate tensile strength","level":2,"score":0.5019209384918213},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4010792076587677},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.38026508688926697},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.25414758920669556},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23034897446632385},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2052915096282959},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3368235","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3368235","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":[],"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/G8288448131","display_name":null,"funder_award_id":"51975544","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":27,"referenced_works":["https://openalex.org/W2908872833","https://openalex.org/W2913017878","https://openalex.org/W2938159670","https://openalex.org/W2977728141","https://openalex.org/W2991460789","https://openalex.org/W3138732012","https://openalex.org/W3163582502","https://openalex.org/W3178836507","https://openalex.org/W3199789753","https://openalex.org/W3201265861","https://openalex.org/W3210371452","https://openalex.org/W4210853116","https://openalex.org/W4224246948","https://openalex.org/W4226348943","https://openalex.org/W4280572501","https://openalex.org/W4283744480","https://openalex.org/W4285204042","https://openalex.org/W4285505591","https://openalex.org/W4293067754","https://openalex.org/W4293662111","https://openalex.org/W4312596032","https://openalex.org/W4320713374","https://openalex.org/W4367301720","https://openalex.org/W4379874878","https://openalex.org/W4385235082","https://openalex.org/W4386766621","https://openalex.org/W4389735194"],"related_works":["https://openalex.org/W4200319726","https://openalex.org/W1984793747","https://openalex.org/W4312547492","https://openalex.org/W3197729047","https://openalex.org/W1987034598","https://openalex.org/W2370486284","https://openalex.org/W2143847498","https://openalex.org/W2354671671","https://openalex.org/W3005169718","https://openalex.org/W1659460237"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,85,99,121,149],"mechanisms":[2],"provide":[3],"an":[4],"effective":[5,126],"means":[6],"to":[7,17,28,46,101],"enhance":[8],"the":[9,18,29,55,68,73,76,82,88,93,97,102,106,119],"load-bearing":[10],"capacity":[11],"of":[12,20,32,58,78],"soft":[13,33,60,122,152],"fingers,":[14,123],"but":[15],"due":[16],"lack":[19],"stretchability,":[21],"their":[22],"assembly":[23,74],"position":[24],"is":[25,44,52,90,109,115],"often":[26],"limited":[27],"lower":[30],"surface":[31,57,104],"bending":[34],"actuators.":[35],"Here,":[36],"a":[37,59,112],"Cross-Sliding":[38],"jamming":[39,107],"mechanism":[40,51],"with":[41],"tensile":[42],"properties":[43],"developed":[45],"overcome":[47],"this":[48],"restriction.":[49],"The":[50,139],"integrated":[53],"on":[54,118],"upper":[56],"actuator":[61,69],"and":[62,87,92,129,136,145],"can":[63],"be":[64],"passively":[65],"stretched":[66],"as":[67],"bends.":[70],"By":[71],"changing":[72],"position,":[75],"defect":[77],"rigidity":[79],"contact":[80,103],"between":[81],"conventional":[83],"variable":[84,98,120],"fingers":[86],"object":[89],"solved,":[91],"disturbance":[94],"caused":[95],"by":[96,131],"structure":[100],"during":[105],"process":[108],"eliminated.":[110],"Furthermore,":[111],"multi-fingered":[113],"gripper":[114],"assembled":[116],"based":[117],"demonstrating":[124],"its":[125],"grasping":[127],"capability":[128],"stability":[130],"bending,":[132],"stiffness,":[133],"vibration":[134],"experiments":[135],"so":[137],"on.":[138],"reported":[140],"study":[141],"provides":[142],"novel":[143],"design":[144],"application":[146],"insights":[147],"for":[148],"modulation":[150],"in":[151],"robots.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
