{"id":"https://openalex.org/W4379744425","doi":"https://doi.org/10.1109/tro.2023.3280595","title":"A Restorable, Variable Stiffness Pneumatic Soft Gripper Based on Jamming of Strings of Beads","display_name":"A Restorable, Variable Stiffness Pneumatic Soft Gripper Based on Jamming of Strings of Beads","publication_year":2023,"publication_date":"2023-06-07","ids":{"openalex":"https://openalex.org/W4379744425","doi":"https://doi.org/10.1109/tro.2023.3280595"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3280595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3280595","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/A5101962067","display_name":"Fenglin Han","orcid":"https://orcid.org/0000-0003-4392-9752"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fenglin Han","raw_affiliation_strings":["State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha, China","College of Mechanical and Electrical Engineering, Central South University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-4392-9752","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101956565","display_name":"Fei Lei","orcid":"https://orcid.org/0000-0001-5631-1017"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Fei","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Central South University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003057262","display_name":"Run Zou","orcid":"https://orcid.org/0000-0003-4981-6273"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Run Zou","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Central South University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-4981-6273","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034009642","display_name":"Weijian Li","orcid":"https://orcid.org/0000-0002-9728-5588"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijian Li","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Central South University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101578106","display_name":"Jinghao Zhou","orcid":"https://orcid.org/0000-0002-9139-8506"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinghao Zhou","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Central South University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100366750","display_name":"Haiming Zhao","orcid":"https://orcid.org/0000-0002-0026-8299"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiming Zhao","raw_affiliation_strings":["State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha, China","College of Mechanical and Electrical Engineering, Central South University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0026-8299","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Central South University, Changsha, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101962067"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":null,"apc_paid":null,"fwci":2.2213,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.87455635,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"39","issue":"5","first_page":"4065","last_page":"4077"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9959999918937683,"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":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8407299518585205},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.6334066987037659},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.509559154510498},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46967798471450806},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.46320024132728577},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4372677206993103},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43002113699913025},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.417568564414978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3943633437156677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.382280170917511},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32615238428115845},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30061447620391846},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1802438497543335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1594579517841339},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1037561297416687}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8407299518585205},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.6334066987037659},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.509559154510498},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46967798471450806},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.46320024132728577},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4372677206993103},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43002113699913025},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.417568564414978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3943633437156677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.382280170917511},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32615238428115845},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30061447620391846},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1802438497543335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1594579517841339},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1037561297416687},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3280595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3280595","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G299329374","display_name":null,"funder_award_id":"2020JJ4706","funder_id":"https://openalex.org/F4320322866","funder_display_name":"Natural Science Foundation of Hainan Province"}],"funders":[{"id":"https://openalex.org/F4320322866","display_name":"Natural Science Foundation of Hainan Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W2007924815","https://openalex.org/W2010569445","https://openalex.org/W2029744358","https://openalex.org/W2072293370","https://openalex.org/W2074535625","https://openalex.org/W2090108740","https://openalex.org/W2118177844","https://openalex.org/W2183846737","https://openalex.org/W2284390012","https://openalex.org/W2518073382","https://openalex.org/W2520982900","https://openalex.org/W2542677346","https://openalex.org/W2560730116","https://openalex.org/W2561931395","https://openalex.org/W2577404187","https://openalex.org/W2769147444","https://openalex.org/W2809027915","https://openalex.org/W2895321490","https://openalex.org/W2897665340","https://openalex.org/W2899849323","https://openalex.org/W2900212909","https://openalex.org/W2905812576","https://openalex.org/W2933853062","https://openalex.org/W2990242393","https://openalex.org/W2991460789","https://openalex.org/W3190405850","https://openalex.org/W4213081843","https://openalex.org/W6756021062"],"related_works":["https://openalex.org/W4200319726","https://openalex.org/W1984793747","https://openalex.org/W3197729047","https://openalex.org/W4312547492","https://openalex.org/W1987034598","https://openalex.org/W2370486284","https://openalex.org/W2143847498","https://openalex.org/W2219666539","https://openalex.org/W4296449477","https://openalex.org/W2526555730"],"abstract_inverted_index":{"Soft":[0],"robots":[1,36],"based":[2,218],"on":[3,219],"particle":[4,25],"jamming":[5,45,112],"cannot":[6],"return":[7],"to":[8,17,76,94,105,124,182,196],"the":[9,18,24,32,35,44,50,67,70,78,95,99,101,106,111,115,118,126,130,133,136,141,146,149,161,168,175,184,189,191,197,208,220,245],"initial":[10,13,96,107,152,198],"position":[11,97],"and":[12,31,53,63,128,144,174,239,244],"mechanical":[14],"state":[15,199],"due":[16],"accumulation":[19],"of":[20,34,43,55,69,86,117,148,203,207,237,242],"particles":[21],"after":[22,135,211],"removing":[23],"jamming,":[26],"which":[27],"means":[28],"poor":[29],"restorability,":[30],"compliance":[33],"during":[37,114,172],"deformation":[38,116],"will":[39],"be":[40,92,194,250],"reduced":[41],"because":[42],"effect.":[46],"Here,":[47],"we":[48,72,120],"present":[49],"design,":[51],"fabrication,":[52],"tests":[54],"a":[56,235,240],"novel":[57],"soft":[58,162,216,231],"actuator":[59,102,127,134,169,192,209,221],"with":[60,200],"good":[61],"restorability":[62,68],"compliance.":[64],"To":[65,109,139],"improve":[66],"actuator,":[71,119],"used":[73,121],"cotton":[74],"threads":[75],"connect":[77],"spherical":[79],"acrylic":[80],"beads":[81,90,131],"into":[82,132],"form":[83],"strings":[84],"instead":[85],"discrete":[87],"beads.":[88],"The":[89,215,227],"could":[91,193],"pulled":[93],"by":[98],"threads,":[100,190],"also":[103],"returns":[104],"state.":[108],"avoid":[110],"effect":[113],"compressed":[122],"air":[123],"drive":[125],"injected":[129],"active":[137],"deformation.":[138],"reduce":[140],"driving":[142],"pressure":[143],"facilitate":[145],"flow":[147],"beads,":[150],"an":[151,201,212],"noncontact,":[153],"frame-type":[154],"strain":[155],"constraint":[156],"structure":[157],"was":[158,170],"designed":[159],"for":[160],"actuator.":[163],"Experimental":[164],"data":[165],"show":[166],"that":[167,248],"flexible":[171],"bending":[173],"stiffness":[176],"can":[177,222,229,249],"increase":[178],"more":[179],"than":[180,205],"12-fold":[181],"resist":[183],"external":[185],"load.":[186],"By":[187],"pulling":[188],"restored":[195],"error":[202],"less":[204],"3%":[206],"length":[210],"operation":[213],"cycle.":[214],"gripper":[217,228],"grasp":[223,230],"repeatedly":[224],"or":[225],"laterally.":[226],"objects":[232],"such":[233],"as":[234],"piece":[236],"tofu":[238],"balloon":[241],"water,":[243],"maximum":[246],"weight":[247],"stably":[251],"grasped":[252],"is":[253],"2.744":[254],"kg.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-10T08:33:47.465468","created_date":"2025-10-10T00:00:00"}
