{"id":"https://openalex.org/W4226108559","doi":"https://doi.org/10.1109/robio54168.2021.9739624","title":"A Variable-Cross-Sectional Continuum Manipulator capable of grasping by whole-arm wrapping","display_name":"A Variable-Cross-Sectional Continuum Manipulator capable of grasping by whole-arm wrapping","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226108559","doi":"https://doi.org/10.1109/robio54168.2021.9739624"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739624","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5017391410","display_name":"Zuan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I2802615301","display_name":"China Aerospace Science and Technology Corporation","ror":"https://ror.org/01z8tr155","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuan Li","raw_affiliation_strings":["University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055","Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai Aerospace Control Technology Institute, Shanghai, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I3131625388"]},{"raw_affiliation_string":"Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai Aerospace Control Technology Institute, Shanghai, P.R. China","institution_ids":["https://openalex.org/I2802615301"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039813424","display_name":"Yixin Xie","orcid":"https://orcid.org/0000-0002-4436-3474"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixin Xie","raw_affiliation_strings":["University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I3131625388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036836746","display_name":"Han Yuan","orcid":"https://orcid.org/0000-0002-7532-9295"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Yuan","raw_affiliation_strings":["University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I3131625388"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University Town of Shenzhen,School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen,Shenzhen,P.R. China,518055","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I3131625388"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9666,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75913323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9987000226974487,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9973000288009644,"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/manipulator","display_name":"Manipulator (device)","score":0.6129410862922668},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5359542965888977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4923962354660034},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.42012256383895874},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3345879912376404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.267179399728775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18504434823989868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14921632409095764},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06787559390068054}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6129410862922668},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5359542965888977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4923962354660034},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.42012256383895874},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3345879912376404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.267179399728775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18504434823989868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14921632409095764},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06787559390068054}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739624","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1989710690","https://openalex.org/W2007920821","https://openalex.org/W2014036400","https://openalex.org/W2014502771","https://openalex.org/W2063797945","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2131150943","https://openalex.org/W2143660196","https://openalex.org/W2419602188","https://openalex.org/W2544641369","https://openalex.org/W2625812298","https://openalex.org/W2663063359","https://openalex.org/W2734536974","https://openalex.org/W2796901451","https://openalex.org/W2909729638","https://openalex.org/W2911226473","https://openalex.org/W2942096073","https://openalex.org/W2964608116","https://openalex.org/W3198842516","https://openalex.org/W6801447886"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W848152769","https://openalex.org/W2125082648","https://openalex.org/W4402933916"],"abstract_inverted_index":{"Continuum":[0],"manipulators":[1,25],"have":[2,26,54],"attracted":[3],"great":[4,17],"interest":[5],"in":[6,19],"recent":[7],"years":[8],"due":[9],"to":[10],"their":[11],"excellent":[12],"flexibility":[13],"and":[14,36,77],"dexterity,":[15],"exhibiting":[16],"potentials":[18],"various":[20],"applications.":[21],"Most":[22],"existing":[23],"continuum":[24,55,82,119],"constant":[27,43],"cross":[28,44,60,87],"sections,":[29,61],"which":[30],"simplifies":[31],"the":[32,40,64,70,92,115],"design,":[33,72],"fabrication,":[34],"modeling":[35],"control.":[37],"However,":[38],"from":[39],"bionics\u2019":[41],"view,":[42],"sections":[45],"are":[46],"not":[47],"rational,":[48],"since":[49],"most":[50],"natural":[51],"creatures":[52],"that":[53,91],"structures":[56],"usually":[57],"exhibit":[58],"variable":[59,86],"such":[62],"as":[63],"elephant":[65],"trunk.":[66],"This":[67,109],"paper":[68,110],"presented":[69],"structural":[71],"kinetostatic":[73],"modeling,":[74],"prototype":[75],"fabrication":[76],"experiment":[78],"of":[79,117],"a":[80],"cable-driven":[81],"manipulator":[83,102],"featured":[84],"by":[85,106],"sections.":[88],"Results":[89],"showed":[90],"proposed":[93],"manipulator\u2019s":[94],"repeated":[95],"positioning":[96],"error":[97],"was":[98],"2.25mm.":[99],"Furthermore,":[100],"this":[101],"could":[103,111],"achieve":[104],"grasping":[105],"whole-arm":[107],"wrapping.":[108],"be":[112],"useful":[113],"for":[114],"research":[116],"variable-cross-sectional":[118],"manipulators.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
