{"id":"https://openalex.org/W4376605611","doi":"https://doi.org/10.1109/robosoft55895.2023.10121938","title":"Variable Length-Angle and Stiffness Joint Mechanism that Enables Extension, Contraction and Rotation Elements by S-shape Folded Flat Tube","display_name":"Variable Length-Angle and Stiffness Joint Mechanism that Enables Extension, Contraction and Rotation Elements by S-shape Folded Flat Tube","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605611","doi":"https://doi.org/10.1109/robosoft55895.2023.10121938"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10121938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121938","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":"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/A5059035203","display_name":"Kagetora TAKAHASHI","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kagetora Takahashi","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Tohoku University,Tough Cyberphysical AI Research Center,Japan","Tough Cyberphysical AI Research Center, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Tough Cyberphysical AI Research Center,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tough Cyberphysical AI Research Center, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015409351","display_name":"Masahiro WATANABE","orcid":"https://orcid.org/0000-0002-6675-4214"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Watanabe","raw_affiliation_strings":["Tohoku University,Tough Cyberphysical AI Research Center,Japan","Tough Cyberphysical AI Research Center, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Tough Cyberphysical AI Research Center,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tough Cyberphysical AI Research Center, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027242904","display_name":"Kazuki Abe","orcid":"https://orcid.org/0000-0001-5308-4859"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuki Abe","raw_affiliation_strings":["Tohoku University,Tough Cyberphysical AI Research Center,Japan","Tough Cyberphysical AI Research Center, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Tough Cyberphysical AI Research Center,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Tough Cyberphysical AI Research Center, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate school of Information Sciences, Tohoku University,Japan","Graduate school of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate school of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9979000091552734,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.995199978351593,"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/stiffness","display_name":"Stiffness","score":0.7034308910369873},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.568794310092926},{"id":"https://openalex.org/keywords/contraction","display_name":"Contraction (grammar)","score":0.5192568302154541},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.518073558807373},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.49654990434646606},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.4946570098400116},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.43020346760749817},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4190337657928467},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.3869885504245758},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3421133756637573},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33043384552001953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.31571251153945923},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3050948977470398},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2728807032108307},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2103588879108429},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1188916265964508}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7034308910369873},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.568794310092926},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.5192568302154541},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.518073558807373},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.49654990434646606},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.4946570098400116},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.43020346760749817},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4190337657928467},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.3869885504245758},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3421133756637573},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33043384552001953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.31571251153945923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3050948977470398},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2728807032108307},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2103588879108429},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1188916265964508},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10121938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121938","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W1995797200","https://openalex.org/W2008156858","https://openalex.org/W2059790460","https://openalex.org/W2074535625","https://openalex.org/W2092391367","https://openalex.org/W2111866551","https://openalex.org/W2146031911","https://openalex.org/W2165734112","https://openalex.org/W2294166415","https://openalex.org/W2737601814","https://openalex.org/W2763137514","https://openalex.org/W2873075134","https://openalex.org/W2909662786","https://openalex.org/W2934356351","https://openalex.org/W3013022121","https://openalex.org/W3014113596","https://openalex.org/W3183820416","https://openalex.org/W4210333111","https://openalex.org/W6741587629","https://openalex.org/W6745675589"],"related_works":["https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W2253413664","https://openalex.org/W2955342073","https://openalex.org/W2241953493","https://openalex.org/W4327605557","https://openalex.org/W3177742234","https://openalex.org/W2963387574","https://openalex.org/W2575470327","https://openalex.org/W2080097749"],"abstract_inverted_index":{"In":[0,236],"recent":[1],"years,":[2],"the":[3,12,49,61,74,79,83,88,92,105,113,120,133,145,151,171,184,199,206,214,224,228,231,237],"need":[4],"for":[5],"a":[6,15,128,175,246],"variable":[7,58,76],"stiffness":[8,13,27,59,77,172,188],"mechanism":[9,56,137,229,244],"to":[10,36,48,98,112,126,143,157,165,169,241,245],"control":[11],"of":[14,44,51,64,82,119,131,186],"robot":[16],"structure":[17,89],"has":[18],"been":[19,34],"observed":[20],"in":[21,60,73,87,110,139,189],"soft":[22],"robotics.":[23],"There":[24],"are":[25],"various":[26,30],"methods,":[28],"and":[29,41,67,100,116,161,164,194,205,217,230],"linear":[31,55],"mechanisms":[32],"have":[33],"proposed":[35,138],"achieve":[37,158],"extension,":[38,65,114,159,192,203],"contraction,":[39,66,115],"bending,":[40],"joint":[42,68,117,162,195,210],"rotation":[43,118,211],"each":[45],"method.":[46],"However,":[47],"best":[50],"our":[52],"knowledge,":[53],"no":[54],"with":[57,191],"two":[62],"axes":[63],"rotation.":[69,196],"This":[70],"is":[71,108,142],"because,":[72],"conventional":[75],"method,":[78],"air":[80,106,134],"tube":[81,107,147],"pneumatic":[84],"actuator":[85],"encased":[86],"cannot":[90],"maintain":[91],"desired":[93],"shape":[94],"under":[95],"pressure":[96,168],"due":[97],"wrinkling":[99],"buckling":[101],"that":[102,148,213],"occur":[103],"when":[104],"deformed":[109],"response":[111],"structure.":[121],"Therefore,":[122],"it":[123],"was":[124],"necessary":[125],"develop":[127],"new":[129],"method":[130],"encasing":[132],"tube.":[135,235],"The":[136],"this":[140,179,243],"study":[141],"bend":[144],"flat":[146,234],"serves":[149],"as":[150],"flow":[152],"path":[153],"into":[154],"an":[155],"S-shape":[156],"contraction":[160,193,204],"rotation,":[163],"apply":[166,242],"internal":[167],"make":[170],"variable.":[173],"Using":[174],"prototype":[176],"based":[177],"on":[178,223],"original":[180],"principle,":[181],"we":[182,239],"confirmed":[183],"performance":[185],"switching":[187],"conjunction":[190],"Experiments":[197],"measuring":[198],"holding":[200,207,215,218,248],"force":[201,216],"during":[202,209],"torque":[208,219],"revealed":[212],"were":[220],"highly":[221],"dependent":[222],"pressure-receiving":[225],"area":[226],"between":[227],"S-shaped":[232],"folded":[233],"future,":[238],"aim":[240],"posture":[247],"assist.":[249]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
