{"id":"https://openalex.org/W4317383744","doi":"https://doi.org/10.1109/robio55434.2022.10011643","title":"A granular jamming based hollow variable stiffness structure with adjustable local hardness","display_name":"A granular jamming based hollow variable stiffness structure with adjustable local hardness","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383744","doi":"https://doi.org/10.1109/robio55434.2022.10011643"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011643","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 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/A5100362340","display_name":"Xuan Liu","orcid":"https://orcid.org/0000-0002-9226-6134"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuan Liu","raw_affiliation_strings":["Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401"],"affiliations":[{"raw_affiliation_string":"Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028619842","display_name":"Liwei Ci","orcid":null},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liwei Ci","raw_affiliation_strings":["Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401"],"affiliations":[{"raw_affiliation_string":"Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041947757","display_name":"Jianhua Zhang","orcid":"https://orcid.org/0000-0001-8061-1861"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Zhang","raw_affiliation_strings":["Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401"],"affiliations":[{"raw_affiliation_string":"Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021812683","display_name":"Yan Zhao","orcid":"https://orcid.org/0000-0003-3717-6918"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhao","raw_affiliation_strings":["Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401"],"affiliations":[{"raw_affiliation_string":"Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109425520","display_name":"Kashif Aziz","orcid":null},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"K M Arafat Aziz","raw_affiliation_strings":["Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401"],"affiliations":[{"raw_affiliation_string":"Hebei University of Technology,school of mechanical engineering,Tianjin,China,300401","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100362340"],"corresponding_institution_ids":["https://openalex.org/I184843921"],"apc_list":null,"apc_paid":null,"fwci":0.3217,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54857571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2237","last_page":"2242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.8066972494125366},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7675736546516418},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.7370592951774597},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.5428848266601562},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08044427633285522}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8066972494125366},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7675736546516418},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.7370592951774597},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.5428848266601562},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08044427633285522},{"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/robio55434.2022.10011643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011643","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 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":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6437224108","display_name":null,"funder_award_id":"62003128,U2013212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":19,"referenced_works":["https://openalex.org/W1990311344","https://openalex.org/W1996023871","https://openalex.org/W2007924815","https://openalex.org/W2029744358","https://openalex.org/W2054583192","https://openalex.org/W2102491248","https://openalex.org/W2188087069","https://openalex.org/W2520982900","https://openalex.org/W2560730116","https://openalex.org/W2728251804","https://openalex.org/W2773587136","https://openalex.org/W2889529934","https://openalex.org/W2897665340","https://openalex.org/W2903886252","https://openalex.org/W2904797364","https://openalex.org/W2926374707","https://openalex.org/W3090462370","https://openalex.org/W3217738226","https://openalex.org/W4226177210"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W1984793747","https://openalex.org/W4312547492","https://openalex.org/W3197729047","https://openalex.org/W3016692377","https://openalex.org/W2016187641","https://openalex.org/W4404725684","https://openalex.org/W1624160917","https://openalex.org/W2805339068","https://openalex.org/W4246450666"],"abstract_inverted_index":{"As":[0],"an":[1],"effective":[2],"variable":[3,23,91],"stiffness":[4,24,92,95,111,131],"method,":[5],"jamming":[6,136],"structures":[7],"are":[8,54],"widely":[9],"used":[10,55],"in":[11,33],"soft":[12],"robots.":[13],"Based":[14],"on":[15,90,129],"the":[16,63,68,84,94,97,109,117,124,130,135],"principle":[17],"of":[18,62,96,126,134],"granular":[19],"jamming,":[20],"a":[21,73,87],"hollow":[22],"bellows":[25],"structure":[26],"with":[27,42,51],"adjustable":[28],"local":[29,118],"hardness":[30],"is":[31,37,138],"proposed":[32],"this":[34],"paper.":[35],"It":[36],"prepared":[38],"by":[39,102,104],"wax-lost":[40],"casting":[41],"Ecoflex":[43],"0030":[44],"silica":[45,69],"gel":[46,70],"material,":[47],"and":[48,71],"glass":[49],"balls":[50],"different":[52],"diameters":[53],"as":[56],"filling":[57],"particles.":[58],"We":[59],"make":[60],"use":[61],"Ogden":[64],"model":[65,76],"to":[66],"simulate":[67],"establish":[72],"finite":[74],"element":[75],"for":[77],"simulation":[78],"experiments.":[79],"The":[80],"results":[81],"show":[82],"that":[83],"mechanism":[85,98,137],"has":[86],"good":[88],"effect":[89],"while":[93,116],"can":[99,112],"be":[100,113],"increased":[101],"380%":[103],"applying":[105],"negative":[106],"pressure.":[107],"Also,":[108],"integral":[110],"significantly":[114],"adjusted,":[115],"surface":[119],"remains":[120],"soft.":[121],"In":[122],"addition,":[123],"influence":[125],"structural":[127],"parameters":[128],"variation":[132],"performance":[133],"investigated.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}