{"id":"https://openalex.org/W4396875079","doi":"https://doi.org/10.1109/robosoft60065.2024.10522015","title":"Dish-Shaped Thin Beads: A Novel Bead Shape for Wire-Driven Variable Stiffness Mechanisms","display_name":"Dish-Shaped Thin Beads: A Novel Bead Shape for Wire-Driven Variable Stiffness Mechanisms","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396875079","doi":"https://doi.org/10.1109/robosoft60065.2024.10522015"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10522015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10522015","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":"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/A5097985112","display_name":"Haruto Miida","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":"Haruto Miida","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University,Sendai,Japan","Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University,Sendai,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, 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"]},{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Watanabe","raw_affiliation_strings":["Tohoku University,Tough Cyberphysical AI Research Center","Tough Cyberphysical AI Research Center, Tohoku University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Tough Cyberphysical AI Research Center","institution_ids":["https://openalex.org/I4210093896"]},{"raw_affiliation_string":"Tough Cyberphysical AI Research Center, Tohoku University","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":["Graduate School of Information Sciences and Tough Cyberphysical AI Research Center, Tohoku University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences and Tough Cyberphysical AI Research Center, Tohoku University","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"]},{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuki Abe","raw_affiliation_strings":["Tohoku University,Tough Cyberphysical AI Research Center","Tough Cyberphysical AI Research Center, Tohoku University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University,Tough Cyberphysical AI Research Center","institution_ids":["https://openalex.org/I4210093896"]},{"raw_affiliation_string":"Tough Cyberphysical AI Research Center, Tohoku University","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028004107","display_name":"Issei Onda","orcid":"https://orcid.org/0000-0002-1007-0358"},"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":"Issei Onda","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University,Sendai,Japan","Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University,Sendai,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, 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,Sendai,Japan","Graduate School of Information Sciences, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University,Sendai,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"629","last_page":"636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9961000084877014,"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/bead","display_name":"Bead","score":0.9177639484405518},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8133810758590698},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5781244039535522},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.5652300715446472},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5433058142662048},{"id":"https://openalex.org/keywords/radius-of-curvature","display_name":"Radius of curvature","score":0.5183754563331604},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.490593820810318},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3664865493774414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3055732846260071},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.2752290368080139},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.219314306974411},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12613758444786072},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11520391702651978},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10249975323677063}],"concepts":[{"id":"https://openalex.org/C109386097","wikidata":"https://www.wikidata.org/wiki/Q1053956","display_name":"Bead","level":2,"score":0.9177639484405518},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8133810758590698},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5781244039535522},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.5652300715446472},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5433058142662048},{"id":"https://openalex.org/C11665553","wikidata":"https://www.wikidata.org/wiki/Q1136069","display_name":"Radius of curvature","level":5,"score":0.5183754563331604},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.490593820810318},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3664865493774414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3055732846260071},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.2752290368080139},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.219314306974411},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12613758444786072},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11520391702651978},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10249975323677063},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C175017881","wikidata":"https://www.wikidata.org/wiki/Q1318998","display_name":"Mean curvature","level":3,"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/C127813850","wikidata":"https://www.wikidata.org/wiki/Q6803617","display_name":"Mean curvature flow","level":4,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10522015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10522015","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8818476592","display_name":null,"funder_award_id":"JPMJMS2034","funder_id":"https://openalex.org/F4320320907","funder_display_name":"Japan Science and Technology Corporation"}],"funders":[{"id":"https://openalex.org/F4320320907","display_name":"Japan Science and Technology Corporation","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2007924815","https://openalex.org/W2020635539","https://openalex.org/W2047330207","https://openalex.org/W2080551943","https://openalex.org/W2092391367","https://openalex.org/W2111866551","https://openalex.org/W2146031911","https://openalex.org/W2167138223","https://openalex.org/W2168280763","https://openalex.org/W2284910182","https://openalex.org/W2805417526","https://openalex.org/W2899849323","https://openalex.org/W3014113596","https://openalex.org/W3035847082","https://openalex.org/W4200198971","https://openalex.org/W4301718283","https://openalex.org/W4313639504"],"related_works":["https://openalex.org/W2300368007","https://openalex.org/W3032061483","https://openalex.org/W1634816471","https://openalex.org/W2909115134","https://openalex.org/W2042360567","https://openalex.org/W4316038845","https://openalex.org/W2075183116","https://openalex.org/W2009519834","https://openalex.org/W4323927820","https://openalex.org/W2382606910"],"abstract_inverted_index":{"In":[0,101],"recent":[1],"years,":[2],"there":[3,79],"has":[4,47],"been":[5,81],"much":[6],"research":[7],"on":[8,84],"soft":[9],"robots":[10],"with":[11,35,179],"variable":[12,114],"stiffness":[13,53,73,115],"mechanisms.":[14,116],"There":[15],"are":[16,147,189,198],"various":[17],"methods":[18,85],"for":[19,72,110],"achieving":[20],"switching":[21,74],"stiffness,":[22],"one":[23],"of":[24,32,95,137,152,160,172],"which":[25,133],"is":[26,64,75,99,119,134,156,165],"the":[27,43,52,58,61,69,88,93,96,122,130,135,138,153,161,170,183,187],"wire":[28,40],"method.":[29],"This":[30,45,117],"consists":[31],"multiple":[33],"segments":[34],"through":[36,42],"holes,":[37],"and":[38,68,92,126,149,174,191,194],"a":[39,106,150],"passed":[41],"center.":[44],"method":[46],"an":[48],"advantage":[49],"in":[50,112],"that":[51],"can":[54],"be":[55],"increased":[56],"to":[57,66,86],"point":[59],"where":[60],"segment":[62],"material":[63],"about":[65],"break,":[67],"time":[70],"required":[71],"very":[76],"short.":[77],"However,":[78],"have":[80],"few":[82],"studies":[83],"shorten":[87],"distance":[89,123],"between":[90,124],"segments,":[91],"size":[94],"whole":[97],"body":[98],"problematic.":[100],"this":[102],"study,":[103],"we":[104],"propose":[105],"novel":[107],"bead":[108,118,131,140,144,163],"shape":[109,164],"use":[111],"wire-driven":[113],"shorter":[120],"than":[121,128],"beads,":[125],"less":[127],"half":[129],"radius,":[132],"limit":[136],"conventional":[139,180],"distance.":[141],"Various":[142],"theoretical":[143],"design":[145],"models":[146],"developed,":[148],"prototype":[151],"proposed":[154,162],"mechanism":[155],"fabricated.":[157],"The":[158],"usefulness":[159],"demonstrated":[166],"experimentally":[167],"by":[168,186],"measuring":[169],"radius":[171],"curvature":[173],"holding":[175],"torque,":[176],"including":[177],"comparisons":[178],"beads.":[181],"Finally,":[182],"characteristics":[184],"revealed":[185],"experiments":[188],"discussed,":[190],"future":[192],"works":[193],"applications":[195],"under":[196],"development":[197],"presented.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}