{"id":"https://openalex.org/W4404627577","doi":"https://doi.org/10.1109/lra.2024.3505822","title":"Rapidly Tunable Stiffness Soft Gripper for Multifunctional Grasping","display_name":"Rapidly Tunable Stiffness Soft Gripper for Multifunctional Grasping","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404627577","doi":"https://doi.org/10.1109/lra.2024.3505822"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3505822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3505822","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/A5101652653","display_name":"Jiawei Xu","orcid":"https://orcid.org/0000-0002-8479-0630"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiawei Xu","raw_affiliation_strings":["School of Mechanical Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024951005","display_name":"Qingyue Li","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyue Li","raw_affiliation_strings":["Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100591712","display_name":"Wenxiang Xie","orcid":"https://orcid.org/0009-0009-8634-9185"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxiang Xie","raw_affiliation_strings":["Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058930783","display_name":"Xu Dong","orcid":"https://orcid.org/0000-0002-3611-6529"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Dong","raw_affiliation_strings":["Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100529499","display_name":"Yaoyao Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoyao Jiang","raw_affiliation_strings":["Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lvzhou Li","orcid":"https://orcid.org/0009-0007-2667-0984"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lvzhou Li","raw_affiliation_strings":["Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China","institution_ids":["https://openalex.org/I78978612"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001191710","display_name":"Jianning Ding","orcid":"https://orcid.org/0000-0003-3606-9627"},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianning Ding","raw_affiliation_strings":["Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technology for Carbon Neutralization, Yangzhou University, Jiangsu, China","institution_ids":["https://openalex.org/I78978612"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101652653"],"corresponding_institution_ids":["https://openalex.org/I115592961"],"apc_list":null,"apc_paid":null,"fwci":0.6261,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65148016,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"708","last_page":"715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.995199978351593,"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":0.995199978351593,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.989300012588501,"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":0.9858999848365784,"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/soft-robotics","display_name":"Soft robotics","score":0.7126544117927551},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5641062259674072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43167683482170105},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.35160455107688904},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32368525862693787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31200486421585083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2871062755584717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2676771283149719},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.206906259059906}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7126544117927551},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5641062259674072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43167683482170105},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.35160455107688904},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32368525862693787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31200486421585083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2871062755584717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2676771283149719},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.206906259059906}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3505822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3505822","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/13","display_name":"Climate action","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G2578025071","display_name":null,"funder_award_id":"BK20230591","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1608215728","https://openalex.org/W1982611025","https://openalex.org/W2048401675","https://openalex.org/W2168280763","https://openalex.org/W2515930553","https://openalex.org/W2519437300","https://openalex.org/W2520982900","https://openalex.org/W2610967334","https://openalex.org/W2625379055","https://openalex.org/W2785767758","https://openalex.org/W2895321490","https://openalex.org/W2905812576","https://openalex.org/W2956125650","https://openalex.org/W2973098377","https://openalex.org/W2975562707","https://openalex.org/W2980980233","https://openalex.org/W2996576045","https://openalex.org/W3010916990","https://openalex.org/W3016542991","https://openalex.org/W3032258929","https://openalex.org/W3038104529","https://openalex.org/W3094186510","https://openalex.org/W3117219792","https://openalex.org/W3154125796","https://openalex.org/W4210630899","https://openalex.org/W4210863407","https://openalex.org/W4212853595","https://openalex.org/W4223438611","https://openalex.org/W4309671448","https://openalex.org/W4318039799","https://openalex.org/W4318955562","https://openalex.org/W4323924470","https://openalex.org/W4376851392","https://openalex.org/W4385616672","https://openalex.org/W4385824717"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2016187641","https://openalex.org/W2805339068","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W2898370298","https://openalex.org/W2137437058","https://openalex.org/W4390401159","https://openalex.org/W2744391499","https://openalex.org/W2526555730"],"abstract_inverted_index":{"The":[0,60,95,134],"flexible":[1,36,196],"gripper":[2,20,37],"exhibits":[3],"limited":[4],"load":[5,23,44,97],"capacity":[6,24,98],"while":[7],"possessing":[8],"dexterity":[9],"and":[10,42,56,76,123,157,167,170,183],"adaptability":[11],"to":[12,87,144,177],"complex":[13],"environments.":[14],"Conversely,":[15],"the":[16,163,172,192,199],"thermally-driven":[17],"variable":[18,53,63,173],"stiffness":[19,54,64,82,174],"boasts":[21],"high":[22,43],"but":[25],"suffers":[26],"from":[27,84],"slow":[28],"response":[29,41,165],"times.":[30],"This":[31,189],"study":[32],"presents":[33],"a":[34,48,57,69,112,124],"multifunctional":[35],"characterized":[38],"by":[39],"rapid":[40,125],"capacity,":[45],"achieved":[46],"through":[47],"combination":[49],"of":[50,68,93,116,128,137,180,195],"thermally":[51,61],"responsive":[52,62],"fingers":[55,65],"jet-cooling":[58],"system.":[59],"are":[66],"composed":[67],"layered":[70],"material":[71],"comprising":[72],"liquid":[73],"metal":[74],"particles":[75],"shape":[77],"memory":[78],"polymer":[79],"composites,":[80],"with":[81,111],"ranging":[83],"3.56":[85],"MPa":[86],"4356":[88],"MPa,":[89],"spanning":[90],"three":[91,138],"orders":[92],"magnitude.":[94],"maximum":[96,113],"reaches":[99],"<inline-formula":[100,117,129,145],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101,118,130,146],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[102,119,131,147],"notation=\"LaTeX\">$\\sim$</tex-math></inline-formula>13":[103],"N":[104],"(single":[105],"finger":[106,150],"at":[107],"15":[108],"mm":[109],"deflection)":[110],"bending":[114],"angle":[115],"notation=\"LaTeX\">$\\sim":[120],"82^{\\circ":[121],"}$</tex-math></inline-formula>":[122],"stiffening":[126],"speed":[127],"notation=\"LaTeX\">$\\sim$</tex-math></inline-formula>2":[132],"s.":[133],"gripper,":[135],"consisting":[136],"fingers,":[139],"can":[140],"grasp":[141,178],"objects":[142],"up":[143],"notation=\"LaTeX\">$\\sim$</tex-math></inline-formula>54":[148],"times":[149],"weight,":[151],"including":[152],"oranges,":[153],"empty":[154],"plastic":[155],"cups,":[156],"other":[158],"deformable":[159],"objects.":[160],"We":[161],"discuss":[162],"thermal-stiffness":[164],"characteristics":[166],"mechanical":[168],"properties":[169],"demonstrate":[171],"gripper's":[175],"ability":[176],"targets":[179],"different":[181],"sizes":[182],"masses":[184],"in":[185,198],"various":[186],"initial":[187],"orientations.":[188],"work":[190],"shows":[191],"potential":[193],"applications":[194],"manipulators":[197],"rapid,":[200],"damage-free":[201],"grasping":[202],"domain.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
