{"id":"https://openalex.org/W2162393414","doi":"https://doi.org/10.1109/robot.2009.5152377","title":"Differentiated layer design to modify the compliance of soft pads for robotic limbs","display_name":"Differentiated layer design to modify the compliance of soft pads for robotic limbs","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2162393414","doi":"https://doi.org/10.1109/robot.2009.5152377","mag":"2162393414"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/853304","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029213229","display_name":"Giovanni Berselli","orcid":"https://orcid.org/0000-0003-0093-3006"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"G. Berselli","raw_affiliation_strings":["DIEM, Mechanical Engineering Department, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"DIEM, Mechanical Engineering Department, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030653825","display_name":"Gabriele Vassura","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G. Vassura","raw_affiliation_strings":["DIEM, Italy"],"affiliations":[{"raw_affiliation_string":"DIEM, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029213229"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":13.7773,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.9871262,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1285","last_page":"1290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.995199978351593,"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/layer","display_name":"Layer (electronics)","score":0.6775916814804077},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.567164421081543},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5131145119667053},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4892151355743408},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.47461003065109253},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4364723861217499},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4024350047111511},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3913416564464569},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.34239330887794495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2212151288986206}],"concepts":[{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6775916814804077},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.567164421081543},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5131145119667053},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4892151355743408},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.47461003065109253},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4364723861217499},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4024350047111511},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3913416564464569},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.34239330887794495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2212151288986206}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robot.2009.5152377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/91777","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/91777","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unige.it:11567/810964","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/810964","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unimore.it:11380/853304","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/853304","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3434543","is_oa":true,"landing_page_url":"https://zenodo.org/record/3434543","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/853304","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/853304","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W179372779","https://openalex.org/W1820657498","https://openalex.org/W1901686099","https://openalex.org/W1965709657","https://openalex.org/W2018459510","https://openalex.org/W2020251869","https://openalex.org/W2032745455","https://openalex.org/W2042163945","https://openalex.org/W2069940518","https://openalex.org/W2077312779","https://openalex.org/W2091518182","https://openalex.org/W2099248672","https://openalex.org/W2119659507","https://openalex.org/W2120927641","https://openalex.org/W2122056155","https://openalex.org/W2127642969","https://openalex.org/W2156507050","https://openalex.org/W2166256694","https://openalex.org/W2168580726","https://openalex.org/W2494118737","https://openalex.org/W3023379202","https://openalex.org/W6669383978","https://openalex.org/W6684552532","https://openalex.org/W6723221463"],"related_works":["https://openalex.org/W3158538495","https://openalex.org/W2045815042","https://openalex.org/W2092226129","https://openalex.org/W2913619905","https://openalex.org/W3125758369","https://openalex.org/W2375898439","https://openalex.org/W2028287801","https://openalex.org/W2069382761","https://openalex.org/W2061774045","https://openalex.org/W2264548338"],"abstract_inverted_index":{"Most":[0],"of":[1,14,61,70],"robotic":[2],"soft":[3],"pads":[4],"studied":[5],"so":[6,47],"far":[7],"were":[8],"made":[9],"with":[10,75,85,89,119,134],"a":[11,19,62,80,122],"thick":[12],"layer":[13,55,83,88,129],"homogeneous":[15],"material":[16,109],"shaped":[17],"around":[18],"rigid":[20],"core;":[21],"their":[22],"behavior":[23],"has":[24],"been":[25],"widely":[26],"investigated":[27],"in":[28,105],"the":[29,59,67,71,96,101,108,111,117,148],"literature,":[30],"mainly":[31],"under":[32],"compressive":[33,139],"contact":[34,41],"load,":[35],"showing":[36,146],"typical":[37],"non-linear":[38],"relationship":[39],"between":[40],"deformation":[42],"and":[43,100,110,143,152],"applied":[44],"load":[45],"(the":[46],"called":[48],"power":[49,103],"law).":[50],"This":[51],"paper":[52],"proposes":[53],"differentiated":[54],"design,":[56],"that":[57,147],"is":[58,93],"adoption":[60],"single":[63],"elastic":[64],"material,":[65],"dividing":[66],"overall":[68],"thickness":[69],"pad":[72,98,113],"into":[73],"layers":[74],"different":[76],"structural":[77],"design":[78],"(e.g.":[79],"continuous":[81],"skin":[82],"coupled":[84],"an":[86],"internal":[87,128],"voids).":[90],"The":[91],"purpose":[92],"to":[94,115,121],"modify":[95],"actual":[97],"compliance":[99,118],"resulting":[102],"law;":[104],"particular,":[106],"given":[107],"allowable":[112],"thickness,":[114],"increase":[116],"respect":[120],"non":[123],"structured":[124],"pad.":[125],"Some":[126],"possible":[127],"structures":[130],"are":[131,141],"described,":[132],"compatible":[133],"rapid":[135],"prototyping":[136],"manufacturing.":[137],"Their":[138],"behaviors":[140],"tested":[142],"comparatively":[144],"evaluated":[145],"concept":[149],"can":[150],"work":[151],"be":[153],"exploited":[154],"for":[155],"useful":[156],"application.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
