{"id":"https://openalex.org/W2594099276","doi":"https://doi.org/10.1109/robio.2016.7866373","title":"Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm","display_name":"Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2594099276","doi":"https://doi.org/10.1109/robio.2016.7866373","mag":"2594099276"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866373","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101775597","display_name":"Zheyuan Gong","orcid":"https://orcid.org/0000-0002-8739-5222"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zheyuan Gong","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034671880","display_name":"Zhexin Xie","orcid":"https://orcid.org/0000-0001-6994-6863"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhexin Xie","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023263461","display_name":"Xingbang Yang","orcid":"https://orcid.org/0000-0003-0387-6043"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingbang Yang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057674506","display_name":"Tianmiao Wang","orcid":"https://orcid.org/0000-0003-3153-7524"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianmiao Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002423609","display_name":"Li Wen","orcid":"https://orcid.org/0000-0002-1498-3103"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Wen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, People's Republic of China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101775597"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":2.2792,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.8797318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2016","issue":null,"first_page":"509","last_page":"514"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"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/workspace","display_name":"Workspace","score":0.8602758646011353},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7374246716499329},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6510845422744751},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6035809516906738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5826178789138794},{"id":"https://openalex.org/keywords/3d-printed","display_name":"3d printed","score":0.5365495681762695},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4463047683238983},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3859151303768158},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3481428921222687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2772015631198883},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.2675013840198517},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22717437148094177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2210046947002411},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1652916967868805},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.11741527915000916}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8602758646011353},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7374246716499329},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6510845422744751},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6035809516906738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5826178789138794},{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.5365495681762695},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4463047683238983},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3859151303768158},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3481428921222687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2772015631198883},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2675013840198517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22717437148094177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2210046947002411},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1652916967868805},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.11741527915000916},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2016.7866373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866373","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"mag:2748934377","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702243781053723","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1982082424","https://openalex.org/W1984187759","https://openalex.org/W1993793321","https://openalex.org/W2027454283","https://openalex.org/W2048058874","https://openalex.org/W2054912718","https://openalex.org/W2057478641","https://openalex.org/W2071188031","https://openalex.org/W2074207981","https://openalex.org/W2077226647","https://openalex.org/W2085566650","https://openalex.org/W2087926964","https://openalex.org/W2101132776","https://openalex.org/W2101667962","https://openalex.org/W2118177844","https://openalex.org/W2122090762","https://openalex.org/W2149010019","https://openalex.org/W2149165496","https://openalex.org/W2163566443","https://openalex.org/W2165479823","https://openalex.org/W2319998733","https://openalex.org/W2337157527","https://openalex.org/W2512216316","https://openalex.org/W6645876363","https://openalex.org/W6672495150","https://openalex.org/W6703313716"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,59,105],"present":[4],"the":[5,9,25,28,41,55,61,71,74,79,90,93,96,101,107,112],"design,":[6],"fabrication":[7],"and":[8,70],"mathematical":[10],"model":[11,76],"of":[12,27,43,54,63,73,92,95,111],"an":[13],"entire":[14],"soft":[15,29,56,97,113],"robotic":[16],"arm":[17,30,98,114],"with":[18],"three-dimensional":[19,80],"(3D)":[20],"locomotion.":[21],"We":[22,85],"first":[23],"describe":[24],"design":[26],"based":[31],"on":[32],"3D":[33,52],"printed":[34],"channels":[35],"that":[36,88],"were":[37],"spatially":[38],"distributed":[39],"at":[40,65],"interface":[42],"two":[44],"different":[45,66],"silicone":[46],"elastomeric":[47],"materials":[48],"which":[49],"enable":[50],"complex":[51],"motion":[53,64],"arm.":[57],"Then":[58],"demonstrate":[60,87],"workspace":[62],"air":[67],"pressure":[68],"levels,":[69],"ability":[72],"mathematic":[75],"to":[77],"predict":[78],"movement":[81],"in":[82],"free":[83],"space.":[84],"further":[86],"modifying":[89],"texture":[91],"surface":[94],"can":[99],"constrain":[100],"radial":[102],"expansion.":[103],"Finally,":[104],"estimate":[106],"workspace,":[108],"location":[109],"repeatability":[110],"via":[115],"actual":[116],"tests.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
