{"id":"https://openalex.org/W4376605621","doi":"https://doi.org/10.1109/robosoft55895.2023.10121930","title":"Sea Shell Bioinspired Variable Stiffness Mechanism Enabled by Hybrid Jamming Transition","display_name":"Sea Shell Bioinspired Variable Stiffness Mechanism Enabled by Hybrid Jamming Transition","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605621","doi":"https://doi.org/10.1109/robosoft55895.2023.10121930"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10121930","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft55895.2023.10121930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","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/A5086190512","display_name":"Luca Arleo","orcid":"https://orcid.org/0000-0002-2179-0684"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Arleo","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087128945","display_name":"Jasmine Pozzi","orcid":"https://orcid.org/0000-0002-1112-0230"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jasmine Pozzi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068967208","display_name":"Niccol\u00f2 Pagliarani","orcid":"https://orcid.org/0000-0003-3871-0940"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Niccol\u00f3 Pagliarani","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Italy,Department of Excellence in Robotics and AI, Scuola Superiore Sant&#x2019; Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086190512"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23920907,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9955000281333923,"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"}},"topics":[{"id":"https://openalex.org/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9955000281333923,"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":0.9925000071525574,"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"}},{"id":"https://openalex.org/T11472","display_name":"Analytical Chemistry and Sensors","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/1502","display_name":"Bioengineering"},"field":{"id":"https://openalex.org/fields/15","display_name":"Chemical Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.8172489404678345},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7829873561859131},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6797500848770142},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.589516282081604},{"id":"https://openalex.org/keywords/shell","display_name":"Shell (structure)","score":0.4888998568058014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45917558670043945},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.40193790197372437},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4013633131980896},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3920910954475403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24187549948692322},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1596904695034027},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.131687194108963}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8172489404678345},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7829873561859131},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6797500848770142},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.589516282081604},{"id":"https://openalex.org/C2781052500","wikidata":"https://www.wikidata.org/wiki/Q2230313","display_name":"Shell (structure)","level":2,"score":0.4888998568058014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45917558670043945},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.40193790197372437},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4013633131980896},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3920910954475403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24187549948692322},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1596904695034027},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.131687194108963},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10121930","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft55895.2023.10121930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/562612","is_oa":false,"landing_page_url":"https://hdl.handle.net/11382/562612","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1554862754","https://openalex.org/W1608165171","https://openalex.org/W2164400078","https://openalex.org/W2165024892","https://openalex.org/W2173001546","https://openalex.org/W2320894952","https://openalex.org/W2462868454","https://openalex.org/W2520436097","https://openalex.org/W2771958505","https://openalex.org/W2792966616","https://openalex.org/W2898035263","https://openalex.org/W2912500577","https://openalex.org/W2948358774","https://openalex.org/W3032258929","https://openalex.org/W3129182272","https://openalex.org/W3194931751","https://openalex.org/W3195666609","https://openalex.org/W3196498618","https://openalex.org/W4220793320"],"related_works":["https://openalex.org/W4200319726","https://openalex.org/W1984793747","https://openalex.org/W3197729047","https://openalex.org/W4312547492","https://openalex.org/W1987034598","https://openalex.org/W2370486284","https://openalex.org/W2143847498","https://openalex.org/W2354671671","https://openalex.org/W3005169718","https://openalex.org/W2001052214"],"abstract_inverted_index":{"Layer":[0],"jamming":[1,5,88],"and":[2,55,69,106,132,165],"positive":[3],"pressure":[4],"demonstrated":[6],"great":[7],"potential":[8],"in":[9,65,90,137,146,169],"soft":[10],"robotic":[11],"applications.":[12],"The":[13,119],"combination":[14],"of":[15,22,30,62,67,79,104,171,176],"these":[16],"technologies":[17],"can":[18,42],"increase":[19],"the":[20,28,60,63,73,92,123,140,147,154,162,166,174],"performance":[21],"variable":[23,101,184],"stiffness-oriented":[24],"designs.":[25],"Inspired":[26],"by":[27],"shape":[29],"sea":[31,177],"shell":[32],"radial":[33],"ribs,":[34],"we":[35,71],"introduce":[36],"a":[37,76,100,107,112,159,180],"planar":[38],"lightweight":[39],"device":[40,74,164],"that":[41],"be":[43],"easily":[44],"adapted":[45],"to":[46,110,117],"different":[47,77],"application":[48],"scenarios,":[49],"providing":[50],"both":[51],"significant":[52],"stiffness":[53,102,185],"variation":[54],"high":[56],"load-bearing":[57],"capabilities.":[58],"Exploiting":[59],"ease":[61],"system":[64],"terms":[66,170],"design":[68],"manufacturing,":[70],"tested":[72],"with":[75,139],"number":[78],"layers.":[80],"It":[81],"shows":[82,99],"higher":[83],"performances":[84],"than":[85],"standard":[86],"layer":[87,94,150],"systems:":[89],"particular,":[91],"1":[93],"per":[95,126],"side":[96,127],"version":[97,128],"(7.5g)":[98],"ratio":[103],"64:1":[105],"force":[108],"required":[109],"reach":[111],"10":[113],"mm":[114],"deflection":[115],"equal":[116],"19N.":[118],"same":[120],"values":[121,135],"for":[122,183],"5":[124],"layers":[125],"(17.2g)":[129],"are":[130,136],"42.5:1":[131],"62N.":[133],"These":[134],"line":[138],"most":[141],"promising":[142],"innovative":[143],"approaches":[144],"reported":[145],"literature":[148],"on":[149],"jamming.":[151],"In":[152],"addition,":[153],"presented":[155],"results":[156],"allow":[157],"making":[158],"comparison":[160],"between":[161],"introduced":[163],"biological":[167],"counterpart":[168],"performance,":[172],"showing":[173],"validity":[175],"shells":[178],"as":[179],"bioinspiration":[181],"source":[182],"systems.":[186]},"counts_by_year":[],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
