{"id":"https://openalex.org/W4385221651","doi":"https://doi.org/10.1109/mra.2023.3283332","title":"A Novel High-Torque Bidirectional Curl Pneumatic Muscle With Stretchable Sheath: Design and Finite Element Method Analysis","display_name":"A Novel High-Torque Bidirectional Curl Pneumatic Muscle With Stretchable Sheath: Design and Finite Element Method Analysis","publication_year":2023,"publication_date":"2023-07-24","ids":{"openalex":"https://openalex.org/W4385221651","doi":"https://doi.org/10.1109/mra.2023.3283332"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2023.3283332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2023.3283332","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","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/A5100375985","display_name":"Yuxuan Wang","orcid":"https://orcid.org/0000-0002-5235-6362"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Wang","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5235-6362","affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100599393","display_name":"Yinan Li","orcid":"https://orcid.org/0000-0001-5590-1189"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinan Li","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022713707","display_name":"Jiangbei Wang","orcid":"https://orcid.org/0000-0002-2491-0186"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangbei Wang","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2491-0186","affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101493976","display_name":"Yanqiong Fei","orcid":"https://orcid.org/0000-0002-7089-2089"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanqiong Fei","raw_affiliation_strings":["Institute of Medical Robotics, Research Institute of Robotics, Shenzhen Research Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7089-2089","affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, Research Institute of Robotics, Shenzhen Research Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101636414","display_name":"Jianfeng Wan","orcid":"https://orcid.org/0000-0001-5761-3527"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Wan","raw_affiliation_strings":["School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.486,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58429394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"31","issue":"3","first_page":"83","last_page":"96"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9958999752998352,"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/hyperelastic-material","display_name":"Hyperelastic material","score":0.7340215444564819},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.7035908102989197},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6433570981025696},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5319559574127197},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.44588741660118103},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.44149476289749146},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.41362449526786804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22976115345954895},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18316859006881714}],"concepts":[{"id":"https://openalex.org/C147370603","wikidata":"https://www.wikidata.org/wiki/Q3801506","display_name":"Hyperelastic material","level":3,"score":0.7340215444564819},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.7035908102989197},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6433570981025696},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5319559574127197},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.44588741660118103},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.44149476289749146},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.41362449526786804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22976115345954895},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18316859006881714},{"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/mra.2023.3283332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2023.3283332","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1884690635","display_name":null,"funder_award_id":"2022YFB4703202","funder_id":"https://openalex.org/F4320335774","funder_display_name":"Key Technologies Research and Development Program"},{"id":"https://openalex.org/G7400780777","display_name":null,"funder_award_id":"2021Szvup078","funder_id":"https://openalex.org/F4320336569","funder_display_name":"Shenzhen Science and Technology Innovation Program"}],"funders":[{"id":"https://openalex.org/F4320335774","display_name":"Key Technologies Research and Development Program","ror":null},{"id":"https://openalex.org/F4320336569","display_name":"Shenzhen Science and Technology Innovation Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W211888945","https://openalex.org/W1902605501","https://openalex.org/W1984187759","https://openalex.org/W2054628872","https://openalex.org/W2070348594","https://openalex.org/W2092685321","https://openalex.org/W2135723718","https://openalex.org/W2171568918","https://openalex.org/W2188087069","https://openalex.org/W2519437300","https://openalex.org/W2581389070","https://openalex.org/W2593449663","https://openalex.org/W2614919192","https://openalex.org/W2766001825","https://openalex.org/W2773727201","https://openalex.org/W2883855608","https://openalex.org/W2945932601","https://openalex.org/W2979566937","https://openalex.org/W3007855608","https://openalex.org/W3097367335","https://openalex.org/W3114646461","https://openalex.org/W6608631664","https://openalex.org/W6700395638"],"related_works":["https://openalex.org/W4318070857","https://openalex.org/W4289888891","https://openalex.org/W2353996222","https://openalex.org/W2054885914","https://openalex.org/W3032419129","https://openalex.org/W4280618034","https://openalex.org/W2765325264","https://openalex.org/W3012177792","https://openalex.org/W2992443586","https://openalex.org/W2625550447"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"design":[3],"and":[4,26,48,74,81,114,129,147,161,173,188,196,206,212,217,231],"modeling":[5],"of":[6,17,60,78,105,117,150,170,182,186,199],"a":[7,34,98],"novel":[8],"high-torque":[9],"bidirectional":[10],"curl":[11],"pneumatic":[12],"artificial":[13],"muscle":[14],"(BCPAM)":[15],"consisting":[16],"two":[18,54],"identical":[19],"inflatable":[20],"semielliptic":[21],"cylindrical":[22],"chambers":[23],"in":[24,46,139,209,220,229],"parallel":[25],"symmetric":[27],"arrangement.":[28],"Each":[29],"chamber":[30],"is":[31,58,82],"enclosed":[32],"by":[33,40,50,85,132,158],"hyperelastic":[35],"silicone":[36],"(polymer)":[37],"bladder":[38],"encircled":[39],"an":[41],"anisotropic":[42],"elastic":[43],"fabric":[44,63,90],"sheath":[45,57],"circumference":[47],"fastened":[49],"conical":[51],"fittings":[52],"at":[53],"ends.":[55],"The":[56,223],"composed":[59],"rubber-blended":[61],"polyester-knitted":[62],"(RPF)":[64],"with":[65,92,136],"high":[66,93,174],"uniaxial":[67],"nonlinear":[68],"elasticity":[69],"to":[70,142],"allow":[71],"longitudinal":[72],"stretch":[73],"restrict":[75],"radial":[76],"expansion":[77],"the":[79,106,118,123,144,151,164,200],"bladder,":[80],"partially":[83],"reinforced":[84],"polyvinyl":[86],"chloride":[87],"(PVC)-coated":[88],"polyester-woven":[89],"(PPF)":[91],"in-plane":[94],"strength":[95],"working":[96],"as":[97],"neutral":[99],"limit":[100],"layer":[101],"for":[102],"bending":[103,145,210],"deformation":[104],"BCPAM.":[107],"Based":[108],"on":[109],"mesoscopic":[110],"measurements,":[111],"tensile":[112],"tests,":[113],"parameter":[115],"identifications":[116],"utilized":[119],"materials,":[120],"we":[121],"build":[122],"finite":[124],"element":[125],"method":[126,138],"(FEM)":[127],"model":[128],"solve":[130],"it":[131],"explicit":[133],"dynamic":[134],"solver":[135],"numerical":[137],"Abaqus":[140],"software":[141],"predict":[143],"angles":[146],"actuation":[148,221],"torques":[149],"BCPAM":[152,166,201,225],"under":[153,179],"different":[154],"inflating":[155,183],"pressures,":[156],"verified":[157],"experiments.":[159],"Simulations":[160],"experiments":[162],"show":[163,191],"proposed":[165,224],"produces":[167],"large":[168],"range":[169],"motion":[171],"(\u00b182.7\u00b0)":[172],"force":[175],"output":[176],"(34.1":[177],"Nm)":[178],"400":[180],"kPa":[181],"pressure.":[184],"Experiments":[185],"cyclic":[187],"step":[189],"actuations":[190],"repetition":[192],"accuracy,":[193],"response":[194],"time,":[195],"bandwidth":[197],"frequency":[198],"are":[202],"\u00b10.98\u00b0,":[203],"0.78":[204],"s,":[205,216],"1.6":[207],"Hz":[208,219],"angle,":[211],"\u00b10.03":[213],"Nm,":[214],"0.50":[215],"6.9":[218],"torque.":[222],"has":[226],"potential":[227],"applications":[228],"bionic":[230],"rehabilitation":[232],"robots.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}