{"id":"https://openalex.org/W3171031826","doi":"https://doi.org/10.1109/tro.2021.3075643","title":"Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger","display_name":"Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger","publication_year":2021,"publication_date":"2021-05-28","ids":{"openalex":"https://openalex.org/W3171031826","doi":"https://doi.org/10.1109/tro.2021.3075643","mag":"3171031826"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3075643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3075643","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5033013777","display_name":"Costanza Armanini","orcid":"https://orcid.org/0000-0002-8055-6257"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Costanza Armanini","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-8055-6257","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023802518","display_name":"Irfan Hussain","orcid":"https://orcid.org/0000-0003-2759-0306"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0003-2759-0306","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087439914","display_name":"Zubair Iqbal","orcid":"https://orcid.org/0000-0002-0887-332X"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Muhammad Zubair Iqbal","raw_affiliation_strings":["Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy","Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0887-332X","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019475373","display_name":"Dongming Gan","orcid":"https://orcid.org/0000-0001-5327-1902"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dongming Gan","raw_affiliation_strings":["Purdue University at West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0001-5327-1902","affiliations":[{"raw_affiliation_string":"Purdue University at West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Prattichizzo","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy","Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 degli Studi di Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043823023","display_name":"Federico Renda","orcid":"https://orcid.org/0000-0002-1833-9809"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Federico Renda","raw_affiliation_strings":["Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0002-1833-9809","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5033013777"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":3.3134,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.92640192,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"37","issue":"6","first_page":"2083","last_page":"2098"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/fin","display_name":"Fin","score":0.7309383749961853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6155402064323425},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5538979172706604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5336492657661438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5157902240753174},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4935725927352905},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4589122533798218},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4496113955974579},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.39136913418769836},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29018741846084595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2874602675437927},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1598602533340454},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11134317517280579},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10126820206642151}],"concepts":[{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.7309383749961853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6155402064323425},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5538979172706604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5336492657661438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5157902240753174},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4935725927352905},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4589122533798218},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4496113955974579},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.39136913418769836},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29018741846084595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2874602675437927},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1598602533340454},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11134317517280579},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10126820206642151},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2021.3075643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3075643","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:usiena-air.unisi.it:11365/1197447","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9442856","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"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/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W134451811","https://openalex.org/W618254468","https://openalex.org/W1182838307","https://openalex.org/W1564897360","https://openalex.org/W1975537977","https://openalex.org/W2016284881","https://openalex.org/W2077568148","https://openalex.org/W2091383515","https://openalex.org/W2095513968","https://openalex.org/W2116754128","https://openalex.org/W2126341038","https://openalex.org/W2136233577","https://openalex.org/W2155337985","https://openalex.org/W2162556257","https://openalex.org/W2179806091","https://openalex.org/W2194598979","https://openalex.org/W2280802834","https://openalex.org/W2315124452","https://openalex.org/W2331130433","https://openalex.org/W2332761829","https://openalex.org/W2510832559","https://openalex.org/W2549080442","https://openalex.org/W2564818611","https://openalex.org/W2603097910","https://openalex.org/W2607883703","https://openalex.org/W2738469521","https://openalex.org/W2773367425","https://openalex.org/W2801574101","https://openalex.org/W2805700843","https://openalex.org/W2890561284","https://openalex.org/W2897782084","https://openalex.org/W2946907594","https://openalex.org/W3015303069","https://openalex.org/W3081048745","https://openalex.org/W3191770880","https://openalex.org/W4246247853","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2092177242","https://openalex.org/W4295791167","https://openalex.org/W2000473227","https://openalex.org/W2019513361","https://openalex.org/W1508899372","https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W2526555730"],"abstract_inverted_index":{"The":[0],"Fin-Ray":[1,63,115],"principle,":[2],"inspired":[3],"by":[4],"the":[5,11,35,45,49,54,68,86,94,98,103,106,112],"physiology":[6],"of":[7,13,17,37,40,48,60,70,88,97,114,134,147],"fish":[8],"rays,":[9],"represents":[10],"foundation":[12],"a":[14,61,80,148],"large":[15],"number":[16],"robotic":[18],"devices.":[19],"However,":[20],"despite":[21],"their":[22],"popularity,":[23],"there":[24],"is":[25,44,73,108,123,138],"not":[26],"any":[27],"<italic":[28],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[29],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ad-hoc</i>":[30],"theoretical":[31],"model":[32],"technique":[33],"for":[34,85],"analysis":[36],"this":[38,66,71],"family":[39,113],"fingers.":[41,117],"This":[42],"lack":[43],"main":[46],"motivation":[47],"presented":[50],"work,":[51],"which":[52,92,122],"provides":[53],"mathematical":[55],"modeling,":[56],"analysis,":[57],"and":[58,140],"prototyping":[59],"closed-chain":[62,89],"finger.":[64],"In":[65],"scenario,":[67],"contribution":[69],"article":[72],"twofold.":[74],"At":[75],"one":[76],"end,":[77,105],"we":[78],"provide":[79],"general":[81],"discrete":[82],"Cosserat":[83],"approach":[84,107],"modeling":[87],"soft":[90],"robots":[91],"shares":[93],"geometrical":[95],"structure":[96],"rigid":[99],"robotics":[100],"counterpart.":[101],"On":[102],"other":[104],"employed":[109],"to":[110,125,127,145],"explore":[111],"effect":[116],"Finally,":[118],"an":[119],"improved":[120],"design,":[121],"able":[124],"conform":[126],"contacting":[128],"surfaces,":[129],"while":[130],"maintaining":[131],"stiffness":[132],"out":[133],"its":[135,141],"grasping":[136],"plane,":[137],"fabricated":[139],"performances":[142],"are":[143],"compared":[144],"those":[146],"previously":[149],"proposed":[150],"prototype.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
