{"id":"https://openalex.org/W3216679998","doi":"https://doi.org/10.1109/niles53778.2021.9600521","title":"Design and FEA-based Methodology for a Novel 3 Parallel Soft Muscle Actuator","display_name":"Design and FEA-based Methodology for a Novel 3 Parallel Soft Muscle Actuator","publication_year":2021,"publication_date":"2021-10-23","ids":{"openalex":"https://openalex.org/W3216679998","doi":"https://doi.org/10.1109/niles53778.2021.9600521","mag":"3216679998"},"language":"en","primary_location":{"id":"doi:10.1109/niles53778.2021.9600521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/niles53778.2021.9600521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","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/A5060260135","display_name":"Mahmoud Elsamanty","orcid":"https://orcid.org/0000-0001-6433-1384"},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Mahmoud Elsamanty","raw_affiliation_strings":["Faculty of Engineering at Shoubra, Smart Engineering Systems Research Center (SESC), Nile University, Banha University, Giza, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering at Shoubra, Smart Engineering Systems Research Center (SESC), Nile University, Banha University, Giza, Egypt","institution_ids":["https://openalex.org/I57629906"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000074007","display_name":"Ahmed Eltayeb","orcid":"https://orcid.org/0000-0002-9151-4116"},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed Eltayeb","raw_affiliation_strings":["Smart Engineering Systems Research Center (SESC), Nile University, Giza, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Smart Engineering Systems Research Center (SESC), Nile University, Giza, Egypt","institution_ids":["https://openalex.org/I57629906"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101406580","display_name":"Mohamed A. Wahby Shalaby","orcid":"https://orcid.org/0000-0003-4942-9257"},"institutions":[{"id":"https://openalex.org/I57629906","display_name":"Nile University","ror":"https://ror.org/03cg7cp61","country_code":"EG","type":"education","lineage":["https://openalex.org/I57629906"]},{"id":"https://openalex.org/I145487455","display_name":"Cairo University","ror":"https://ror.org/03q21mh05","country_code":"EG","type":"education","lineage":["https://openalex.org/I145487455"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mohamed A. Wahby Shalaby","raw_affiliation_strings":["Smart Engineering Systems Research Center (SESC), Nile University Faculty of Computers and Artificial Intelligence, Cairo University University, Giza, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Smart Engineering Systems Research Center (SESC), Nile University Faculty of Computers and Artificial Intelligence, Cairo University University, Giza, Egypt","institution_ids":["https://openalex.org/I57629906","https://openalex.org/I145487455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5060260135"],"corresponding_institution_ids":["https://openalex.org/I57629906"],"apc_list":null,"apc_paid":null,"fwci":0.2546,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.51241502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"394","last_page":"399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9869999885559082,"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":0.8477758169174194},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8067479729652405},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7751317024230957},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7482050061225891},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7359619736671448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6273960471153259},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6204233169555664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5954622030258179},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5808302164077759},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5394241809844971},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5152895450592041},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4561866521835327},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43429261445999146},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4295922517776489},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3596135973930359},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3312976360321045},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18846744298934937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09305205941200256},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08645859360694885}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.8477758169174194},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8067479729652405},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7751317024230957},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7482050061225891},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7359619736671448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6273960471153259},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6204233169555664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5954622030258179},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5808302164077759},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5394241809844971},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5152895450592041},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4561866521835327},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43429261445999146},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4295922517776489},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3596135973930359},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3312976360321045},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18846744298934937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09305205941200256},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08645859360694885},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/niles53778.2021.9600521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/niles53778.2021.9600521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1608215728","https://openalex.org/W1900860620","https://openalex.org/W2046528545","https://openalex.org/W2054628872","https://openalex.org/W2071762487","https://openalex.org/W2073442815","https://openalex.org/W2079574144","https://openalex.org/W2141905643","https://openalex.org/W2156218502","https://openalex.org/W2171568918","https://openalex.org/W2205969003","https://openalex.org/W2284390012","https://openalex.org/W2323171385","https://openalex.org/W2515930553","https://openalex.org/W2614107499","https://openalex.org/W2618733545","https://openalex.org/W2745494968","https://openalex.org/W2801458905","https://openalex.org/W2802271488","https://openalex.org/W2808757576","https://openalex.org/W2813011889","https://openalex.org/W2884957839","https://openalex.org/W2889529934","https://openalex.org/W2894418731","https://openalex.org/W2894852016","https://openalex.org/W2910273746","https://openalex.org/W2944483310","https://openalex.org/W2947517627","https://openalex.org/W2952064883","https://openalex.org/W2954429263","https://openalex.org/W2969397464","https://openalex.org/W2970400854","https://openalex.org/W2979573521","https://openalex.org/W2995524894","https://openalex.org/W3002768791","https://openalex.org/W3037751387","https://openalex.org/W3047932608","https://openalex.org/W3078154952","https://openalex.org/W3080596640","https://openalex.org/W3096765828","https://openalex.org/W3097531163","https://openalex.org/W3105186521","https://openalex.org/W3170959987","https://openalex.org/W3189356394","https://openalex.org/W4244367163","https://openalex.org/W4251181231"],"related_works":["https://openalex.org/W2911666782","https://openalex.org/W4312473168","https://openalex.org/W4385439013","https://openalex.org/W4211124276","https://openalex.org/W2744818472","https://openalex.org/W4312269480","https://openalex.org/W4296449477","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W1253671258"],"abstract_inverted_index":{"Recently,":[0],"soft":[1,17,40,68,142],"robotics":[2,9],"represents":[3],"a":[4,44,64,86,124],"new":[5,49],"era":[6],"of":[7,16,39,88,103,126],"advanced":[8],"systems.":[10],"Based":[11],"on":[12,85],"the":[13,37,57,92,101,120,138,141,151],"flexible":[14],"nature":[15,38],"robots,":[18],"they":[19],"are":[20,83,95],"more":[21],"adequate":[22],"to":[23,36,47,136,150],"have":[24],"safe":[25],"interaction":[26],"with":[27,100],"humans":[28],"and":[29,52,76,98],"handle":[30],"complex":[31],"or":[32],"delicate":[33],"objects.":[34],"Due":[35],"robotics,":[41],"there":[42],"is":[43,71],"crucial":[45],"need":[46],"propose":[48],"designs,":[50],"fabrication,":[51],"control":[53],"systems":[54],"suitable":[55],"for":[56,79],"flexibility":[58],"nature.":[59],"In":[60],"this":[61],"research":[62],"project,":[63],"novel":[65],"three":[66],"parallel":[67],"muscle":[69,143],"actuator":[70,93],"proposed.":[72],"The":[73,107,114,128,145],"proposed":[74],"design":[75,89],"analytical":[77],"models":[78],"predicting":[80],"actuation":[81],"behavior":[82],"based":[84],"set":[87],"parameters.":[90],"First,":[91],"modules":[94],"parametrically":[96],"designed":[97],"identified":[99],"aid":[102],"finite":[104],"element":[105],"analysis.":[106],"simulation":[108],"was":[109,117,132,147],"run":[110],"at":[111,140],"various":[112],"pressures.":[113],"tip":[115],"location":[116],"determined":[118],"from":[119],"kinematic":[121,130],"model":[122,131],"as":[123],"function":[125],"pressure.":[127],"inverse":[129],"built":[133],"using":[134],"ANN":[135,152],"calculate":[137],"pressure":[139],"tip.":[144],"MSE":[146],"2.6778e-8":[148],"due":[149],"model's":[153],"accuracy.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-26T13:28:51.108037","created_date":"2025-10-10T00:00:00"}
