{"id":"https://openalex.org/W4411019129","doi":"https://doi.org/10.1109/robosoft63089.2025.11020870","title":"Variable Stiffness and Selective Compliance of Thermally Activated Architectured Structures for Soft Robots","display_name":"Variable Stiffness and Selective Compliance of Thermally Activated Architectured Structures for Soft Robots","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019129","doi":"https://doi.org/10.1109/robosoft63089.2025.11020870"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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/A5117826412","display_name":"Francesco Nonis","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Francesco Nonis","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088342433","display_name":"Qinghua Guan","orcid":"https://orcid.org/0000-0001-5438-9232"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qinghua Guan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5117826412"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14288702,"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":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9983000159263611,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.998199999332428,"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":0.6993071436882019},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.677753210067749},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6221914291381836},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5970187783241272},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5153388381004333},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4137512445449829},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3247711956501007},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.20826101303100586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1624561846256256},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12022632360458374},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09574306011199951}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6993071436882019},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.677753210067749},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6221914291381836},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5970187783241272},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5153388381004333},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4137512445449829},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3247711956501007},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.20826101303100586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1624561846256256},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12022632360458374},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09574306011199951},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1987361672","https://openalex.org/W2007924815","https://openalex.org/W2128137193","https://openalex.org/W2559544954","https://openalex.org/W2613577497","https://openalex.org/W2804537022","https://openalex.org/W2896452934","https://openalex.org/W2908872833","https://openalex.org/W2971040260","https://openalex.org/W2976801295","https://openalex.org/W3036752555","https://openalex.org/W3155716052","https://openalex.org/W3158106844","https://openalex.org/W3210532034","https://openalex.org/W4200624448","https://openalex.org/W4281632608","https://openalex.org/W4319602300","https://openalex.org/W4386161151","https://openalex.org/W4386322990","https://openalex.org/W4388201361","https://openalex.org/W4393235644"],"related_works":["https://openalex.org/W2410395228","https://openalex.org/W3125941065","https://openalex.org/W2484615095","https://openalex.org/W4366449942","https://openalex.org/W4406616326","https://openalex.org/W4366371796","https://openalex.org/W4366371752","https://openalex.org/W4205440829","https://openalex.org/W1489027086","https://openalex.org/W2526555730"],"abstract_inverted_index":{"Variable":[0],"stiffness":[1,17,30,153,162],"technologies":[2],"are":[3,31],"widely":[4],"recognized":[5],"as":[6],"essential":[7],"for":[8,75,120,170],"many":[9],"soft":[10,76,123],"robotics":[11],"applications.":[12],"In":[13],"this":[14],"paper,":[15],"variable":[16],"structures":[18,80,119],"relying":[19],"on":[20],"temperature":[21],"changes":[22,84,143],"to":[23,51,72],"achieve":[24],"global":[25],"or":[26],"selective":[27],"variations":[28],"in":[29,85,109,122,144,164],"presented.":[32],"Our":[33,55],"design":[34,57,73,158],"leverages":[35],"the":[36,45,65,115,134,152,155],"glass":[37,66],"transition":[38,67],"point":[39],"of":[40,92,104,117,136,147,154],"Polylactic":[41],"Acid":[42],"(PLA),":[43],"where":[44],"material":[46],"transitions":[47],"from":[48],"a":[49,52,59,110,128],"rigid":[50],"rubbery":[53],"state.":[54],"first":[56],"exploits":[58],"helical":[60,101],"structure,":[61],"and":[62,87,94,138],"demonstrates":[63],"how":[64,160],"phenomenon":[68],"can":[69,167],"be":[70],"exploited":[71],"modules":[74],"robotic":[77],"arms.":[78],"The":[79],"exhibits":[81],"substantial":[82],"relative":[83],"axial":[86,137],"bending":[88,139],"stiffness,":[89,140],"with":[90],"factors":[91],"167":[93],"13.6,":[95],"respectively.":[96],"By":[97],"integrating":[98],"an":[99],"additional":[100],"structure":[102,131],"made":[103],"elastic":[105],"Thermoplaytic":[106],"Polyurethane":[107],"(TPU)":[108],"skin-core":[111],"configuration,":[112],"we":[113,126],"illustrate":[114],"potential":[116],"these":[118],"applications":[121],"robotics.":[124],"Additionnaly,":[125],"propose":[127],"novel":[129],"slider":[130],"that":[132,142],"enables":[133],"decoupling":[135],"ensuring":[141],"one":[145],"degree":[146],"freedom":[148],"do":[149],"not":[150],"compromise":[151],"other.":[156],"This":[157],"highlights":[159],"independent":[161],"control":[163],"different":[165],"axes":[166],"enhance":[168],"adaptabvility":[169],"various":[171],"tasks.":[172]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}