{"id":"https://openalex.org/W4396853551","doi":"https://doi.org/10.1109/robosoft60065.2024.10521998","title":"Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation","display_name":"Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396853551","doi":"https://doi.org/10.1109/robosoft60065.2024.10521998"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04660122v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093836569","display_name":"Alexandre Thuillier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Alexandre Thuillier","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095"],"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105424584","display_name":"S\u00e9bastien Krut","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S\u00e9bastien Krut","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095"],"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024843434","display_name":"Nabil Zemiti","orcid":"https://orcid.org/0000-0003-2052-6037"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nabil Zemiti","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095"],"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Poignet","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095"],"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS,Montpellier,France,34095","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5093836569"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":0.3587,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53494646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"492","last_page":"497"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9958999752998352,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9904999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6834114193916321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6685561537742615},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6390233635902405},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5188121199607849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4771125614643097},{"id":"https://openalex.org/keywords/cochlear-implant","display_name":"Cochlear implant","score":0.4429692029953003},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.42040789127349854},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4203418791294098},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32614922523498535},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31421926617622375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2414785921573639},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22225719690322876},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07575282454490662}],"concepts":[{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6834114193916321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6685561537742615},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6390233635902405},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5188121199607849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4771125614643097},{"id":"https://openalex.org/C2778882171","wikidata":"https://www.wikidata.org/wiki/Q724965","display_name":"Cochlear implant","level":2,"score":0.4429692029953003},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.42040789127349854},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4203418791294098},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32614922523498535},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31421926617622375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2414785921573639},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22225719690322876},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07575282454490662},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C548259974","wikidata":"https://www.wikidata.org/wiki/Q569965","display_name":"Audiology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-04660122v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04660122","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04660122v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ROBOSOFT 2024 - 7th IEEE-RAS International Conference on Soft Robotics, Apr 2024, San Diego, CA, United States. pp.492-497, &#x27E8;10.1109/RoboSoft60065.2024.10521998&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-04660122v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04660122","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04660122v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ROBOSOFT 2024 - 7th IEEE-RAS International Conference on Soft Robotics, Apr 2024, San Diego, CA, United States. pp.492-497, &#x27E8;10.1109/RoboSoft60065.2024.10521998&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4396853551.pdf","grobid_xml":"https://content.openalex.org/works/W4396853551.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1969995019","https://openalex.org/W2012609656","https://openalex.org/W2038385925","https://openalex.org/W2067459427","https://openalex.org/W2075986568","https://openalex.org/W2095968803","https://openalex.org/W2110955164","https://openalex.org/W2317370214","https://openalex.org/W2546751691","https://openalex.org/W2790073739","https://openalex.org/W2911380898","https://openalex.org/W2967025937","https://openalex.org/W3155033316","https://openalex.org/W4200280016","https://openalex.org/W4235241973","https://openalex.org/W4248033625","https://openalex.org/W4383108508","https://openalex.org/W4391422953"],"related_works":["https://openalex.org/W3162849432","https://openalex.org/W2102148524","https://openalex.org/W585100505","https://openalex.org/W2009875113","https://openalex.org/W1993699589","https://openalex.org/W2314720829","https://openalex.org/W2272736691","https://openalex.org/W2643748583","https://openalex.org/W4386004832","https://openalex.org/W2317038355"],"abstract_inverted_index":{"In":[0,126],"this":[1,76,132],"paper,":[2],"a":[3,7,31,113,123,172],"design":[4,25,47,95],"method":[5,96],"for":[6,12],"Soft":[8],"Micro-Robot":[9],"(SMR)":[10],"used":[11],"medical":[13],"intervention":[14],"in":[15,36,54,148],"the":[16,43,86,100,127,137,144,151,181],"context":[17,128],"of":[18,26,40,45,89,129,143,165,174],"cochlear":[19,27,108,130],"implant":[20,109],"insertion":[21],"is":[22,104,110,134],"proposed.":[23],"Optimal":[24],"implants":[28],"has":[29,116],"been":[30],"highly":[32],"active":[33],"research":[34],"area":[35],"recent":[37],"years.":[38],"Dozens":[39],"articles":[41],"address":[42],"topic":[44],"optimal":[46,72,79,94,118],"using":[48],"different":[49],"actuation":[50,61],"strategies,":[51],"resulting":[52],"overall":[53],"promising":[55,159],"outcomes.":[56],"From":[57],"magnetic":[58],"to":[59,121,135,150],"fluid":[60],"and":[62,115,171,184],"concentric":[63],"tubes,":[64],"current":[65],"strategies":[66],"are":[67,158],"based":[68,97],"on":[69,98],"generating":[70],"an":[71,93,117,161],"bending":[73,102,119],"moment.":[74],"However,":[75],"approach":[77],"gives":[78],"results":[80,157],"that":[81],"cannot":[82],"be":[83],"manufactured.":[84],"Considering":[85],"manufacturing":[87,185],"constraints":[88],"micro-scale":[90],"soft":[91],"robots,":[92],"varying":[99],"robot":[101,145,182],"stiffness":[103,120],"studied":[105],"here.":[106],"The":[107],"actuated":[111],"by":[112],"tendon":[114],"achieve":[122],"given":[124],"objective.":[125],"insertion,":[131],"objective":[133],"minimize":[136],"root":[138],"mean":[139],"square":[140],"error":[141,164],"(RMSE)":[142],"neutral":[146],"axis":[147],"comparison":[149],"cochlea":[152],"helically":[153],"shaped":[154],"center-line.":[155],"Simulation":[156],"with":[160],"average":[162],"distance":[163],"<tex":[166,175],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[167,176],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$392":[168],"\\mu":[169,178],"m$</tex>":[170,179],"standard-deviation":[173],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$33":[177],"considering":[180],"material":[183],"uncertainties.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}