{"id":"https://openalex.org/W4408200820","doi":"https://doi.org/10.1109/robio64047.2024.10907586","title":"Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint","display_name":"Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408200820","doi":"https://doi.org/10.1109/robio64047.2024.10907586"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907586","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5085327163","display_name":"Jinlong Wu","orcid":"https://orcid.org/0000-0002-0694-3144"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinlong Wu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061615901","display_name":"Gang Liu","orcid":"https://orcid.org/0000-0002-1823-6535"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing,China,210094"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing,China,210094","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343496","display_name":"Ke Li","orcid":"https://orcid.org/0000-0002-3944-8449"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Li","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology Shenzhen,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059293268","display_name":"Niansong Zhang","orcid":"https://orcid.org/0000-0002-2850-0176"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Niansong Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing,China,210094"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing,China,210094","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086399597","display_name":"Zhiyuan Yu","orcid":"https://orcid.org/0000-0001-6196-7598"},"institutions":[{"id":"https://openalex.org/I4210120144","display_name":"Beijing Jingshida Electromechanical Equipment Research Institute","ror":"https://ror.org/02vx4zx98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120144"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Yu","raw_affiliation_strings":["Beijing Institute of Precision Mechatronics and Controls, and Laboratory of Aerospace Servo Actuation and Transmission,Beijing,China,100076"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Precision Mechatronics and Controls, and Laboratory of Aerospace Servo Actuation and Transmission,Beijing,China,100076","institution_ids":["https://openalex.org/I4210120144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009337669","display_name":"Haiteng Wu","orcid":"https://orcid.org/0000-0001-8558-8744"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haiteng Wu","raw_affiliation_strings":["Hangzhou Shenhao Technology Co., Ltd,Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot,Hangzhou,China,311121"],"affiliations":[{"raw_affiliation_string":"Hangzhou Shenhao Technology Co., Ltd,Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot,Hangzhou,China,311121","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100621839","display_name":"Yixiang Liu","orcid":"https://orcid.org/0000-0002-6217-7093"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiang Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5085327163"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31242646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"726","last_page":"731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9043999910354614,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/tensegrity","display_name":"Tensegrity","score":0.8930318355560303},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.803629457950592},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5230416059494019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5173846483230591},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.49926161766052246},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.44061100482940674},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3871804177761078},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25054317712783813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21694278717041016},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1412716805934906},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08565548062324524},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.048318058252334595}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.8930318355560303},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.803629457950592},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5230416059494019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5173846483230591},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.49926161766052246},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.44061100482940674},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3871804177761078},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25054317712783813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21694278717041016},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1412716805934906},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08565548062324524},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.048318058252334595}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907586","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907586","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.41999998688697815,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1590980019","https://openalex.org/W1992982708","https://openalex.org/W2001124350","https://openalex.org/W2054120788","https://openalex.org/W2066399169","https://openalex.org/W2123261982","https://openalex.org/W2147492425","https://openalex.org/W2149475811","https://openalex.org/W2165530525","https://openalex.org/W2588052119","https://openalex.org/W2777674866","https://openalex.org/W2788608293","https://openalex.org/W2895599712","https://openalex.org/W2905880610","https://openalex.org/W2909067076","https://openalex.org/W2941461247","https://openalex.org/W2973117611","https://openalex.org/W3159407446","https://openalex.org/W3180054258","https://openalex.org/W4250517143"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W2172924633","https://openalex.org/W2068591625","https://openalex.org/W2121468671","https://openalex.org/W2506822511","https://openalex.org/W2889941193"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,73,155],"new":[4,164,172],"compact,":[5],"low-inertia,":[6],"and":[7,23,34,42,55,105,134,137,157,170,175,180],"flexible":[8],"tensegrity":[9,80,165],"joint":[10,27,50,81,110],"is":[11,28,35,51,63,129],"proposed,":[12],"which":[13,62,114],"aims":[14],"to":[15,58,85,100],"overcome":[16],"the":[17,49,59,65,68,78,94,102,109,124,127,135,140,161,178],"shortcomings":[18],"of":[19,30,48,67,77,108,126,139,163,182],"traditional":[20],"collaborative":[21],"robots":[22],"tendon-driven":[24],"robots.":[25],"The":[26,46],"composed":[29],"two":[31],"circular":[32],"frames,":[33],"connected":[36],"by":[37,53,131,147],"three":[38],"surrounding":[39],"pneumatic":[40,60],"muscles":[41],"an":[43,116],"intermediate":[44],"spring.":[45],"stiffness":[47,95,106],"changed":[52],"inflating":[54],"releasing":[56],"air":[57],"muscles,":[61],"also":[64],"principle":[66],"joint's":[69],"variable":[70],"stiffness.":[71],"Firstly,":[72],"detailed":[74],"kinematic":[75],"analysis":[76,96],"proposed":[79],"was":[82,97],"carried":[83,98],"out":[84,99],"explore":[86],"its":[87,120],"position":[88],"change":[89],"in":[90,142,167],"multi-axis":[91],"motion.":[92],"Secondly,":[93],"evaluate":[101],"deformation":[103],"response":[104],"characteristics":[107],"under":[111],"different":[112],"loads,":[113],"provided":[115],"important":[117],"reference":[118],"for":[119,160,177],"design":[121,173],"optimization.":[122],"Finally,":[123],"performance":[125],"model":[128,141],"verified":[130,146],"simulation":[132],"analysis,":[133],"reliability":[136],"practicability":[138],"dynamic":[143],"work":[144],"are":[145],"comparison":[148],"with":[149],"actual":[150],"data.":[151],"This":[152],"study":[153],"provides":[154,171],"theoretical":[156],"experimental":[158],"basis":[159],"promotion":[162],"joints":[166],"robot":[168],"applications,":[169],"ideas":[174],"methods":[176],"development":[179],"innovation":[181],"future":[183],"robotics":[184],"technology.":[185]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
