{"id":"https://openalex.org/W2103689571","doi":"https://doi.org/10.1109/robio.2009.4912983","title":"Soft tissue traversal with zero net force: Feasibility study of a biologically inspired design based on reciprocal motion","display_name":"Soft tissue traversal with zero net force: Feasibility study of a biologically inspired design based on reciprocal motion","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2103689571","doi":"https://doi.org/10.1109/robio.2009.4912983","mag":"2103689571"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4912983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4912983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5048136422","display_name":"Tassanai Parittotokkaporn","orcid":"https://orcid.org/0000-0002-7290-3538"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Tassanai Parittotokkaporn","raw_affiliation_strings":["Faculty of Engineering, Imperial College London, UK","Faculty of Engineering, Imperial College London, SW7 2AZ, UK"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014033103","display_name":"Luca Frasson","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luca Frasson","raw_affiliation_strings":["Faculty of Engineering, Imperial College London, UK","Faculty of Engineering, Imperial College London, SW7 2AZ, UK"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014899194","display_name":"Andreas Schneider","orcid":"https://orcid.org/0000-0001-8811-8019"},"institutions":[{"id":"https://openalex.org/I162524378","display_name":"Science and Technology Facilities Council","ror":"https://ror.org/057g20z61","country_code":"GB","type":"government","lineage":["https://openalex.org/I162524378","https://openalex.org/I4210087105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andreas Schneider","raw_affiliation_strings":["Science and Technology Facilities Council, Rutherford and Appleton Laboratory, Didcot, UK","Science and Technology Facilities Council, Rutherford Appleton Laboratory, Technology - Central Microstructure Facility, Didcot, OX11 0QX, UK"],"affiliations":[{"raw_affiliation_string":"Science and Technology Facilities Council, Rutherford and Appleton Laboratory, Didcot, UK","institution_ids":["https://openalex.org/I162524378"]},{"raw_affiliation_string":"Science and Technology Facilities Council, Rutherford Appleton Laboratory, Technology - Central Microstructure Facility, Didcot, OX11 0QX, UK","institution_ids":["https://openalex.org/I162524378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044133908","display_name":"S.E. Huq","orcid":null},"institutions":[{"id":"https://openalex.org/I162524378","display_name":"Science and Technology Facilities Council","ror":"https://ror.org/057g20z61","country_code":"GB","type":"government","lineage":["https://openalex.org/I162524378","https://openalex.org/I4210087105"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S.Ejaz Huq","raw_affiliation_strings":["Science and Technology Facilities Council, Rutherford and Appleton Laboratory, Didcot, UK","Science and Technology Facilities Council, Rutherford Appleton Laboratory, Technology - Central Microstructure Facility, Didcot, OX11 0QX, UK"],"affiliations":[{"raw_affiliation_string":"Science and Technology Facilities Council, Rutherford and Appleton Laboratory, Didcot, UK","institution_ids":["https://openalex.org/I162524378"]},{"raw_affiliation_string":"Science and Technology Facilities Council, Rutherford Appleton Laboratory, Technology - Central Microstructure Facility, Didcot, OX11 0QX, UK","institution_ids":["https://openalex.org/I162524378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062141427","display_name":"Brian Davies","orcid":"https://orcid.org/0000-0002-4437-435X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Brian L. Davies","raw_affiliation_strings":["Faculty of Engineering, Imperial College London, UK","Faculty of Engineering, Imperial College London, SW7 2AZ, UK"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021118449","display_name":"Patrick Degenaar","orcid":"https://orcid.org/0000-0002-5984-6698"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Patrick Degenaar","raw_affiliation_strings":["Faculty of Engineering, Imperial College London, UK","Faculty of Engineering, Imperial College London, SW7 2AZ, UK"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031840876","display_name":"Julian Biesenack","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Julian Biesenack","raw_affiliation_strings":["Faculty of Engineering, Imperial College London, UK","Faculty of Engineering, Imperial College London, SW7 2AZ, UK"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando M. Rodriguez y Baena","raw_affiliation_strings":["Faculty of Engineering, Imperial College London, UK","Faculty of Engineering, Imperial College London, SW7 2AZ, UK"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Faculty of Engineering, Imperial College London, SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5048136422"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.7787,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.84611365,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"80","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9986000061035156,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9836999773979187,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reciprocating-motion","display_name":"Reciprocating motion","score":0.9114004373550415},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6332585215568542},{"id":"https://openalex.org/keywords/soft-tissue","display_name":"Soft tissue","score":0.5828801393508911},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.5006575584411621},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.486448734998703},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.4660875201225281},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.437730073928833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4016351103782654},{"id":"https://openalex.org/keywords/biological-system","display_name":"Biological system","score":0.3653872609138489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2725334167480469},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16870763897895813}],"concepts":[{"id":"https://openalex.org/C15466294","wikidata":"https://www.wikidata.org/wiki/Q3775883","display_name":"Reciprocating motion","level":3,"score":0.9114004373550415},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6332585215568542},{"id":"https://openalex.org/C136948725","wikidata":"https://www.wikidata.org/wiki/Q1458306","display_name":"Soft tissue","level":2,"score":0.5828801393508911},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.5006575584411621},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.486448734998703},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4660875201225281},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.437730073928833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4016351103782654},{"id":"https://openalex.org/C186060115","wikidata":"https://www.wikidata.org/wiki/Q30336093","display_name":"Biological system","level":1,"score":0.3653872609138489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2725334167480469},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16870763897895813},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"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/robio.2009.4912983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4912983","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334632","display_name":"Science and Technology Facilities Council","ror":"https://ror.org/057g20z61"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1971873251","https://openalex.org/W2031229870","https://openalex.org/W2031400733","https://openalex.org/W2037491845","https://openalex.org/W2057830525","https://openalex.org/W2089890212","https://openalex.org/W2099814476","https://openalex.org/W2118670115","https://openalex.org/W2161041196","https://openalex.org/W2166175546","https://openalex.org/W2336069610","https://openalex.org/W2773351433","https://openalex.org/W6702968574","https://openalex.org/W6746690018"],"related_works":["https://openalex.org/W170547082","https://openalex.org/W2136735429","https://openalex.org/W2587876411","https://openalex.org/W2358332176","https://openalex.org/W4229950834","https://openalex.org/W4301044568","https://openalex.org/W1587123803","https://openalex.org/W4281394948","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"This":[0],"paper":[1],"builds":[2],"on":[3,6,18,165,181],"previous":[4],"work":[5],"the":[7,19,41,48,57,66,69,82,85,88,157,174],"biologically":[8],"inspired":[9],"microtexturing":[10],"of":[11,21,43,51,112,120,149],"next-generation":[12],"neurosurgical":[13],"probes":[14],"[3].":[15],"It":[16],"reports":[17],"outcome":[20],"a":[22,26,44,142,147,162],"feasibility":[23],"study,":[24],"where":[25],"biomimetic":[27],"robotic":[28],"actuator":[29],"was":[30,91,153,170],"used":[31],"to":[32,59,64,80,155,172,185,191],"demonstrate":[33],"effective":[34],"soft":[35,45,150],"tissue":[36,67,75,151,179],"traversal":[37],"(i.e.":[38],"motion":[39,50,175],"along":[40,68],"surface":[42,54,70],"tissue)":[46],"through":[47],"reciprocating":[49,106,144],"custombuilt":[52],"anisotropic":[53],"textures,":[55],"without":[56],"need":[58],"apply":[60],"an":[61],"external":[62],"force":[63],"push":[65],"and":[71,87,99,105,108,125,127,133,139,168,177,184],"while":[72],"causing":[73],"minimum":[74],"damage.":[76],"The":[77],"protocol":[78],"applied":[79],"characterize":[81],"interaction":[83,159],"between":[84],"samples":[86],"different":[89],"tissues":[90],"considered,":[92],"including":[93,117],"parameters":[94],"such":[95],"as":[96],"texture":[97],"size":[98],"geometry,":[100],"normal":[101],"load,":[102],"frictional":[103],"forces":[104],"speed":[107],"acceleration.":[109],"A":[110],"number":[111],"microtextured":[113],"samples,":[114],"with":[115],"features":[116],"every":[118],"combination":[119],"two":[121],"teeth":[122],"geometries":[123],"(triangular":[124],"fin-like)":[126],"three":[128],"tooth":[129,135],"sizes":[130],"(500\u00b5m,":[131],"100\u00b5m":[132],"50\u00b5m":[134],"height),":[136],"were":[137],"manufactured":[138],"mounted":[140],"onto":[141],"custom-built":[143],"mechanism.":[145],"First,":[146],"variety":[148],"specimens":[152],"tested":[154],"qualify":[156],"sample/tissue":[158],"behavior.":[160],"Subsequently,":[161],"comparative":[163],"study":[164],"agarose":[166],"gel":[167],"gelatin":[169],"performed":[171],"investigate":[173],"characteristics":[176],"resulting":[178],"damage":[180],"brainlike":[182],"material":[183],"explore":[186],"what":[187],"conditions":[188],"are":[189],"needed":[190],"achieve":[192],"forward":[193],"motion.":[194]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
