{"id":"https://openalex.org/W4404294466","doi":"https://doi.org/10.1109/m2vip62491.2024.10746135","title":"Design of a Continuum Robot with Variable Stiffness Using Spherical Jamming","display_name":"Design of a Continuum Robot with Variable Stiffness Using Spherical Jamming","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4404294466","doi":"https://doi.org/10.1109/m2vip62491.2024.10746135"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip62491.2024.10746135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073097107","display_name":"Donghua Shen","orcid":"https://orcid.org/0000-0003-2089-3355"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donghua Shen","raw_affiliation_strings":["Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I2799736854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025345986","display_name":"Wentao Zhou","orcid":"https://orcid.org/0000-0003-1354-6160"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Zhou","raw_affiliation_strings":["Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I2799736854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100641186","display_name":"Qi Zhang","orcid":"https://orcid.org/0000-0002-4159-9932"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zhang","raw_affiliation_strings":["Nanjing University of Information Science and Technology,School of Automation,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Information Science and Technology,School of Automation,Nanjing,China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100680338","display_name":"Haitao Gao","orcid":"https://orcid.org/0000-0001-6224-0032"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Gao","raw_affiliation_strings":["Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I2799736854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100757371","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-8620-0913"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Yang","raw_affiliation_strings":["Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing Institute of Technology,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I2799736854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027392343","display_name":"Xingsong Wang","orcid":"https://orcid.org/0000-0002-6649-1485"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingsong Wang","raw_affiliation_strings":["Southeast University,School of Mechanical Engineering,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9919000267982483,"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":0.9919000267982483,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9873999953269958,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9686999917030334,"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/jamming","display_name":"Jamming","score":0.7759694457054138},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.556891679763794},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5131192803382874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46064168214797974},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.42737501859664917},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3145567774772644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21202370524406433},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21018409729003906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1827426254749298},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1537458598613739},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11919009685516357}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.7759694457054138},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.556891679763794},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5131192803382874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46064168214797974},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.42737501859664917},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3145567774772644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21202370524406433},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21018409729003906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1827426254749298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1537458598613739},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11919009685516357},{"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/m2vip62491.2024.10746135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324885","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2074535625","https://openalex.org/W2770433206","https://openalex.org/W2909662786","https://openalex.org/W2921399728","https://openalex.org/W2999697312","https://openalex.org/W3002040927","https://openalex.org/W3013929861","https://openalex.org/W3017043291","https://openalex.org/W3098457568","https://openalex.org/W3180537100","https://openalex.org/W3183827432","https://openalex.org/W3186246039","https://openalex.org/W4210892739","https://openalex.org/W4280539617","https://openalex.org/W4285728167","https://openalex.org/W4309634223","https://openalex.org/W4327590807","https://openalex.org/W4360619340","https://openalex.org/W4376618514","https://openalex.org/W4388197907","https://openalex.org/W4388505037","https://openalex.org/W4390466572","https://openalex.org/W4390576821","https://openalex.org/W4391683213"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036","https://openalex.org/W2271181815"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,22,36,98],"technology":[2],"allows":[3],"continuum":[4,32],"robots":[5],"to":[6,93],"maintain":[7],"flexibility":[8],"while":[9],"enhancing":[10],"their":[11],"load-bearing":[12],"capacity.":[13],"However,":[14],"current":[15],"technologies":[16],"face":[17],"issues":[18],"such":[19],"as":[20],"limited":[21],"variation":[23,96],"and":[24,67,99],"low":[25],"torsional":[26,79,83],"rigidity.":[27],"This":[28],"paper":[29],"introduces":[30],"a":[31,58,101],"robot":[33,42,90],"with":[34],"variable":[35],"achieved":[37],"through":[38],"spherical":[39,54],"jamming.":[40],"The":[41],"consists":[43],"of":[44,104],"multiple":[45],"ball":[46],"jamming":[47],"joints,":[48],"each":[49],"formed":[50],"by":[51],"concentric,":[52],"interlocking":[53],"friction":[55],"layers.":[56],"Inflating":[57],"thin-film":[59],"airbag":[60],"compresses":[61],"these":[62],"layers,":[63],"locking":[64],"the":[65,69,77,89],"joint":[66],"altering":[68],"robot's":[70],"stiffness.":[71,84],"A":[72],"cross-ball":[73],"ring":[74],"structure":[75],"limits":[76],"joint's":[78],"freedom,":[80],"providing":[81],"high":[82],"Experimental":[85],"results":[86],"show":[87],"that":[88],"achieves":[91],"up":[92],"70":[94],"times":[95],"in":[97,107],"retains":[100],"shear":[102],"modulus":[103],"3.4":[105],"MPa":[106],"its":[108],"flexible":[109],"state.":[110]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}