{"id":"https://openalex.org/W4285505591","doi":"https://doi.org/10.1109/tro.2022.3183533","title":"A Soft Robot With Variable Stiffness Multidirectional Grasping Based on a Folded Plate Mechanism and Particle Jamming","display_name":"A Soft Robot With Variable Stiffness Multidirectional Grasping Based on a Folded Plate Mechanism and Particle Jamming","publication_year":2022,"publication_date":"2022-07-15","ids":{"openalex":"https://openalex.org/W4285505591","doi":"https://doi.org/10.1109/tro.2022.3183533"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3183533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3183533","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5084445198","display_name":"Hang Wei","orcid":"https://orcid.org/0000-0002-7425-9483"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Wei","raw_affiliation_strings":["Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei, China","Research and Development Center, Sichuan Aerospace-Changzheng Equipment Manufacturing Company, Ltd., Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-7425-9483","affiliations":[{"raw_affiliation_string":"Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Research and Development Center, Sichuan Aerospace-Changzheng Equipment Manufacturing Company, Ltd., Chengdu, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020391719","display_name":"Shan Yu","orcid":"https://orcid.org/0000-0001-9556-2126"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Shan","raw_affiliation_strings":["Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0001-9556-2126","affiliations":[{"raw_affiliation_string":"Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087212223","display_name":"Yanzhi Zhao","orcid":"https://orcid.org/0000-0003-4712-2083"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzhi Zhao","raw_affiliation_strings":["Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0003-4712-2083","affiliations":[{"raw_affiliation_string":"Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009450745","display_name":"Lizhe Qi","orcid":"https://orcid.org/0000-0002-4348-1559"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lizhe Qi","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044944450","display_name":"Xilu Zhao","orcid":"https://orcid.org/0000-0002-4488-6208"},"institutions":[{"id":"https://openalex.org/I185365093","display_name":"Saitama Institute of Technology","ror":"https://ror.org/01pkeax38","country_code":"JP","type":"education","lineage":["https://openalex.org/I185365093"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xilu Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, Saitama Institute of Technology, Fukaya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Saitama Institute of Technology, Fukaya, Japan","institution_ids":["https://openalex.org/I185365093"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4914,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.93552617,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"38","issue":"6","first_page":"3821","last_page":"3831"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9991999864578247,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9950000047683716,"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/grippers","display_name":"Grippers","score":0.8022160530090332},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7915124893188477},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.5922777056694031},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5897777080535889},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5049448609352112},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5010337829589844},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47934919595718384},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4547847509384155},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.4398975074291229},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4350694715976715},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4154168367385864},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4153253436088562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3315102159976959},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24437305331230164},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22005963325500488},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12453806400299072},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11177751421928406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09719866514205933}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8022160530090332},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7915124893188477},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.5922777056694031},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5897777080535889},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5049448609352112},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5010337829589844},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47934919595718384},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4547847509384155},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.4398975074291229},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4350694715976715},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4154168367385864},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4153253436088562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3315102159976959},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24437305331230164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22005963325500488},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12453806400299072},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11177751421928406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09719866514205933},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3183533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3183533","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1527981989","https://openalex.org/W1606846501","https://openalex.org/W1829894202","https://openalex.org/W1847353717","https://openalex.org/W1888892744","https://openalex.org/W2010569445","https://openalex.org/W2054628872","https://openalex.org/W2072293370","https://openalex.org/W2118981531","https://openalex.org/W2127966735","https://openalex.org/W2164575107","https://openalex.org/W2166585449","https://openalex.org/W2366983394","https://openalex.org/W2518073382","https://openalex.org/W2558828391","https://openalex.org/W2608405054","https://openalex.org/W2619272866","https://openalex.org/W2740763895","https://openalex.org/W2746469306","https://openalex.org/W2769147444","https://openalex.org/W2784648116","https://openalex.org/W2889255475","https://openalex.org/W2904910970","https://openalex.org/W2913017878","https://openalex.org/W2921399728","https://openalex.org/W2933853062","https://openalex.org/W2938159670","https://openalex.org/W2954731089","https://openalex.org/W2969830272","https://openalex.org/W2993673397","https://openalex.org/W4247543838"],"related_works":["https://openalex.org/W1501306699","https://openalex.org/W4376605790","https://openalex.org/W4298095203","https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W4312233243","https://openalex.org/W2356120996","https://openalex.org/W2908594317","https://openalex.org/W2089273937","https://openalex.org/W4285470395"],"abstract_inverted_index":{"Despite":[0],"good":[1,118],"performance":[2],"in":[3,20,164],"grasping":[4,18,69,77,84,153,162],"irregular":[5],"fragile":[6],"objects,":[7],"soft":[8,35,76,83,98,124],"grippers":[9],"exhibiting":[10],"low":[11],"stiffness,":[12],"and":[13,34,52,85,91,114,150,155],"carrying":[14],"capacity":[15],"lack":[16],"multidirectional":[17,50,75,86,152],"ability":[19],"the":[21,64,95,109,123,128,134,141,160,176],"case":[22],"of":[23,66,94,111,140],"inclination.":[24],"To":[25],"address":[26],"this":[27],"problem,":[28],"we":[29],"propose":[30],"a":[31,42,67,72,103],"novel":[32],"rigid":[33,49,87],"coupling":[36],"variable":[37,61,73,96,177],"stiffness":[38,62,74,92,97],"module":[39],"that":[40,159],"employs":[41],"folded":[43],"plate":[44],"mechanism":[45],"(FPM)":[46],"to":[47,58,81,133,138],"provide":[48],"loading":[51],"combines":[53],"it":[54],"with":[55,63,108,122,175],"particle":[56],"jamming":[57],"achieve":[59],"local":[60],"characteristics":[65],"finger":[68],"structure.":[70],"Hence,":[71],"robot":[78],"is":[79,100,120],"developed":[80],"realize":[82],"loading.":[88],"The":[89],"bending":[90],"control":[93,113],"gripper":[99],"realized":[101],"by":[102,170],"double-layer":[104],"pneumatic":[105],"driving":[106],"structure":[107],"advantages":[110],"simple":[112],"corresponding":[115],"speed.":[116],"Moreover,":[117],"self-recovery":[119],"achieved":[121],"outer":[125],"layer":[126],"since":[127],"particles":[129],"can":[130,167],"quickly":[131],"return":[132],"initial":[135],"state":[136],"due":[137],"partitioning":[139],"FPM.":[142],"Finally,":[143],"prototype":[144],"experiments":[145],"verify":[146],"its":[147],"strong":[148],"adaptability":[149],"stable":[151],"ability,":[154],"experimental":[156],"results":[157],"show":[158],"maximum":[161],"weight":[163],"each":[165],"direction":[166],"be":[168],"increased":[169],"more":[171],"than":[172],"three":[173],"times":[174],"stiffness.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}