{"id":"https://openalex.org/W4321063688","doi":"https://doi.org/10.1109/m2vip55626.2022.10041109","title":"Design and Analysis of a Yoshimura Continuum Actuator","display_name":"Design and Analysis of a Yoshimura Continuum Actuator","publication_year":2022,"publication_date":"2022-11-16","ids":{"openalex":"https://openalex.org/W4321063688","doi":"https://doi.org/10.1109/m2vip55626.2022.10041109"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip55626.2022.10041109","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/m2vip55626.2022.10041109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-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/A5100335727","display_name":"Jingyu Zhang","orcid":"https://orcid.org/0000-0002-0985-2133"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingyu Zhang","raw_affiliation_strings":["College of Artificial Intelligence Nankai University,Tianjin,China","College of Artificial Intelligence Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence Nankai University,Tianjin,China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332821","display_name":"Jie Chen","orcid":"https://orcid.org/0000-0001-5540-086X"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Chen","raw_affiliation_strings":["College of Artificial Intelligence Nankai University,Tianjin,China","College of Artificial Intelligence Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence Nankai University,Tianjin,China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084941903","display_name":"Yu Dang","orcid":"https://orcid.org/0000-0003-0368-7277"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Dang","raw_affiliation_strings":["College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University,Tianjin,Shenzhen,China","College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University, Tianjin, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University,Tianjin,Shenzhen,China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University, Tianjin, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University,Tianjin,Shenzhen,China","College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University, Tianjin, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University,Tianjin,Shenzhen,China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence Shenzhen Research Institute of Nankai University Nankai University, Tianjin, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100335727"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.1814,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.4505668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9948999881744385,"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":0.9918000102043152,"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/actuator","display_name":"Actuator","score":0.8686293959617615},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7949098348617554},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5523110032081604},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.4265025854110718},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4220353662967682},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3271141052246094},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3180351257324219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3051276206970215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28896594047546387},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2157919704914093},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.162562757730484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1459077000617981},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12320852279663086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06235915422439575}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8686293959617615},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7949098348617554},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5523110032081604},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.4265025854110718},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4220353662967682},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3271141052246094},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3180351257324219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3051276206970215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28896594047546387},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2157919704914093},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.162562757730484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1459077000617981},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12320852279663086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06235915422439575}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/m2vip55626.2022.10041109","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/m2vip55626.2022.10041109","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 28th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G167750131","display_name":null,"funder_award_id":"U191320056,61703214,62203234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2626236140","display_name":null,"funder_award_id":"17JCYBJC40600,21JCQNJC00120","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2096645690","https://openalex.org/W2099355316","https://openalex.org/W2101667962","https://openalex.org/W2111392303","https://openalex.org/W2123297103","https://openalex.org/W2335997780","https://openalex.org/W2618978088","https://openalex.org/W2724857106","https://openalex.org/W2772066556","https://openalex.org/W2801704144","https://openalex.org/W3045785884","https://openalex.org/W3191104331","https://openalex.org/W3195782933","https://openalex.org/W3198476225","https://openalex.org/W4206317264","https://openalex.org/W4206829218","https://openalex.org/W4211225190"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"Origami":[0],"has":[1,156],"been":[2],"applied":[3],"in":[4],"robotic":[5],"design":[6],"thanks":[7],"to":[8,159],"its":[9],"lightweight":[10],"structures":[11],"and":[12,20,38,75,103,109,120,129,143],"versatile":[13,161],"applications.":[14],"In":[15,46],"this":[16],"paper,":[17],"we":[18,48],"propose":[19],"analyze":[21,49],"a":[22,68,107,110],"novel":[23],"cable-driven":[24],"Yoshimura":[25,34,54,114,153],"continuum":[26,55,115,154],"actuator.":[27],"The":[28,82,113],"origami":[29],"module":[30],"inspired":[31],"by":[32,132],"the":[33,41,44,50,53,58,65,78,86,91,95,98,133,136,146,152,157],"pattern":[35],"can":[36,89,117],"bend":[37],"contract":[39],"under":[40],"actuation":[42],"of":[43,52,60,70,94,100,126,135,141],"cable.":[45],"addition,":[47],"kinematics":[51],"actuator":[56,96,116,155],"using":[57,77],"assumption":[59],"constant":[61],"curvature.":[62],"Based":[63],"on":[64],"kinematic":[66,87],"model,":[67],"scheme":[69],"closed-loop":[71],"control":[72,137],"is":[73],"designed":[74],"validated":[76],"motion":[79],"capture":[80],"system.":[81],"results":[83],"show":[84],"that":[85],"model":[88],"predict":[90],"tip":[92],"position":[93],"with":[97,123],"error":[99,125],"2.14":[101],"mm":[102,128,131],"3.51mm":[104],"when":[105],"following":[106],"spiral":[108,119],"square":[111,121],"trajectory.":[112],"track":[118],"trajectories":[122],"an":[124],"1.92":[127],"2.93":[130],"aid":[134],"method,":[138],"demonstrating":[139],"reductions":[140],"10.3%":[142],"16.5%":[144],"for":[145],"average":[147],"tracking":[148],"errors.":[149],"It":[150],"demonstrates":[151],"potential":[158],"achieve":[160],"movement.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}