{"id":"https://openalex.org/W4411270377","doi":"https://doi.org/10.1109/lra.2025.3579629","title":"VarWrist: An Anthropomorphic Soft Wrist With Variable Stiffness","display_name":"VarWrist: An Anthropomorphic Soft Wrist With Variable Stiffness","publication_year":2025,"publication_date":"2025-06-13","ids":{"openalex":"https://openalex.org/W4411270377","doi":"https://doi.org/10.1109/lra.2025.3579629"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3579629","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3579629","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/A5102749136","display_name":"Chaozhou Zhang","orcid":"https://orcid.org/0000-0001-9726-9871"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chaozhou Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0001-9726-9871","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057226230","display_name":"Min Li","orcid":"https://orcid.org/0000-0002-2959-9147"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Li","raw_affiliation_strings":["School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0002-2959-9147","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114053606","display_name":"Zhanshuo Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanshuo Yang","raw_affiliation_strings":["School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086656726","display_name":"Xiangrui Kong","orcid":"https://orcid.org/0000-0002-7205-0723"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrui Kong","raw_affiliation_strings":["School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101376779","display_name":"Jiayi Luo","orcid":"https://orcid.org/0009-0000-7740-0254"},"institutions":[{"id":"https://openalex.org/I4210156400","display_name":"Department of Science and Technology of Hunan Province","ror":"https://ror.org/04qgr7x96","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210156400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayi Luo","raw_affiliation_strings":["Hunan Readore Technology Company Ltd., China","Hunan Readore Techn ology Co., Ltd., China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan Readore Technology Company Ltd., China","institution_ids":["https://openalex.org/I4210156400"]},{"raw_affiliation_string":"Hunan Readore Techn ology Co., Ltd., China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042932900","display_name":"Yushen Liu","orcid":"https://orcid.org/0000-0002-5848-7670"},"institutions":[{"id":"https://openalex.org/I4210156400","display_name":"Department of Science and Technology of Hunan Province","ror":"https://ror.org/04qgr7x96","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210156400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yushen Liu","raw_affiliation_strings":["Hunan Readore Technology Company Ltd., China","Hunan Readore Techn ology Co., Ltd., China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan Readore Technology Company Ltd., China","institution_ids":["https://openalex.org/I4210156400"]},{"raw_affiliation_string":"Hunan Readore Techn ology Co., Ltd., China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101132759","display_name":"Jian Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156400","display_name":"Department of Science and Technology of Hunan Province","ror":"https://ror.org/04qgr7x96","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210156400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Fu","raw_affiliation_strings":["Hunan Readore Technology Company Ltd., China","Hunan Readore Techn ology Co., Ltd., China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan Readore Technology Company Ltd., China","institution_ids":["https://openalex.org/I4210156400"]},{"raw_affiliation_string":"Hunan Readore Techn ology Co., Ltd., China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guanghua Xu","orcid":"https://orcid.org/0000-0002-8684-7055"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghua Xu","raw_affiliation_strings":["School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0002-8684-7055","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Xi&#x0027;an Jiaotong University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012646628","display_name":"Shan Luo","orcid":"https://orcid.org/0000-0003-4760-0372"},"institutions":[{"id":"https://openalex.org/I4210119896","display_name":"King's College School","ror":"https://ror.org/02bbqcn27","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210119896"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shan Luo","raw_affiliation_strings":["Department of Engineering, King&#x0027;s College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4760-0372","affiliations":[{"raw_affiliation_string":"Department of Engineering, King&#x0027;s College London, London, U.K","institution_ids":["https://openalex.org/I4210119896"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5102749136"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22624143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"8","first_page":"7883","last_page":"7890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10630","display_name":"Orthopedic Surgery and Rehabilitation","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10630","display_name":"Orthopedic Surgery and Rehabilitation","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9124000072479248,"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/wrist","display_name":"Wrist","score":0.7695707082748413},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.46805471181869507},{"id":"https://openalex.org/keywords/orthodontics","display_name":"Orthodontics","score":0.46691468358039856},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.38215112686157227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37819644808769226},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.29489627480506897},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2469397783279419},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.21036970615386963},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09301823377609253}],"concepts":[{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.7695707082748413},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.46805471181869507},{"id":"https://openalex.org/C29694066","wikidata":"https://www.wikidata.org/wiki/Q118301","display_name":"Orthodontics","level":1,"score":0.46691468358039856},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.38215112686157227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37819644808769226},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.29489627480506897},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2469397783279419},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.21036970615386963},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09301823377609253}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3579629","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3579629","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/G381410162","display_name":null,"funder_award_id":"2023-YBGY-353","funder_id":"https://openalex.org/F4320336350","funder_display_name":"Key Research and Development Projects of Shaanxi Province"},{"id":"https://openalex.org/G5420818476","display_name":null,"funder_award_id":"51975451","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/F4320336350","display_name":"Key Research and Development Projects of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1983812487","https://openalex.org/W2096645690","https://openalex.org/W2137931372","https://openalex.org/W2345097151","https://openalex.org/W2520982900","https://openalex.org/W2560730116","https://openalex.org/W2577404187","https://openalex.org/W2799436222","https://openalex.org/W2848247366","https://openalex.org/W2858608736","https://openalex.org/W2897665340","https://openalex.org/W2899844036","https://openalex.org/W2909662786","https://openalex.org/W2911528113","https://openalex.org/W3015155535","https://openalex.org/W3024360274","https://openalex.org/W3092868804","https://openalex.org/W3128795238","https://openalex.org/W3138433921","https://openalex.org/W3165472471","https://openalex.org/W3165943802","https://openalex.org/W3208157217","https://openalex.org/W4210333111","https://openalex.org/W4285301347","https://openalex.org/W4307635223","https://openalex.org/W4317373274","https://openalex.org/W4378696906","https://openalex.org/W4387129527","https://openalex.org/W4391477274","https://openalex.org/W4392619672","https://openalex.org/W4394618914","https://openalex.org/W4398788590","https://openalex.org/W6633581775"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2406926056","https://openalex.org/W110334421","https://openalex.org/W2048493693","https://openalex.org/W2559360246","https://openalex.org/W1996668300","https://openalex.org/W2170071336","https://openalex.org/W2013246180"],"abstract_inverted_index":{"Robotic":[0],"wrists":[1,18,29,40],"play":[2],"a":[3,68,86,111,149,164,183],"crucial":[4],"role":[5],"in":[6,152,186],"enhancing":[7],"the":[8,98,102,122,126,195],"dexterity":[9],"and":[10,23,36,45,115,140],"stability":[11],"of":[12,43,81,101,113,129,167],"robotic":[13,17,28,63],"end-effectors.":[14],"Existing":[15],"rigid":[16],"tend":[19],"to":[20,52,91,154,158],"be":[21,192],"complex":[22],"lack":[24],"flexibility,":[25],"while":[26],"soft":[27,62,123],"often":[30],"struggle":[31],"with":[32,67,161],"limited":[33],"load-bearing":[34],"capacity":[35],"lower":[37],"accuracy.":[38],"Human":[39],"feature":[41],"multi-degrees":[42],"freedom":[44],"variable":[46,71,168],"stiffness,":[47],"which":[48],"help":[49],"human":[50,93,130,155],"hands":[51],"accomplish":[53],"daily":[54],"tasks.":[55],"This":[56],"study":[57],"presents":[58],"an":[59],"innovative":[60],"anthropomorphic":[61],"wrist,":[64],"VarWrist,":[65],"equipped":[66],"fiber":[69],"jamming":[70],"stiffness":[72,75,169],"module,":[73],"enabling":[74],"adjustment":[76],"through":[77,107],"vacuuming.":[78],"VarWrist":[79,114,162],"consists":[80],"three":[82],"parallel":[83],"bellows,":[84],"utilizing":[85],"positive-negative":[87],"pneumatic":[88],"actuation":[89],"strategy":[90],"mimic":[92],"wrist":[94,124,181],"motion.":[95],"In":[96],"addition,":[97],"trajectory":[99,147],"equation":[100],"rotation":[103],"center":[104],"was":[105],"fitted":[106],"modeling.":[108],"We":[109],"developed":[110],"prototype":[112],"assessed":[116],"its":[117],"performance.":[118],"Results":[119],"indicate":[120],"that":[121,179,190],"surpasses":[125],"motion":[127,146,156],"range":[128,166],"wrists,":[131],"achieving":[132],"flexion":[133],"(81.9\u00b0),":[134],"extension":[135],"(78.5\u00b0),":[136],"ulnar":[137],"deviation":[138,142],"(70.5\u00b0),":[139],"radial":[141],"(70.5\u00b0).":[143],"The":[144],"bending":[145],"showed":[148],"73%":[150],"increase":[151],"similarity":[153],"compared":[157],"fixed-axis":[159],"rotation,":[160],"exhibiting":[163],"significant":[165],"(resting":[170],"state:":[171,174],"206%,":[172],"working":[173],"155%).":[175],"Demonstration":[176],"experiments":[177],"confirm":[178],"this":[180],"facilitates":[182],"dexterous":[184],"hand":[185,196],"completing":[187],"grasping":[188],"tasks":[189],"would":[191],"unattainable":[193],"by":[194],"alone.":[197]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
