{"id":"https://openalex.org/W4412444776","doi":"https://doi.org/10.1109/tro.2025.3588726","title":"3D-Printable Crease-Free Origami Vacuum Bending Actuators for Soft Robots","display_name":"3D-Printable Crease-Free Origami Vacuum Bending Actuators for Soft Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412444776","doi":"https://doi.org/10.1109/tro.2025.3588726"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3588726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588726","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":true,"oa_status":"green","oa_url":"https://biblio.vub.ac.be/vubirfiles/140353026/3D_printable_crease_free_origami_vacuum_bendi_Wang_Zhanwei.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001855236","display_name":"Zhanwei Wang","orcid":"https://orcid.org/0000-0001-8936-254X"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Zhanwei Wang","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-8936-254X","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101663049","display_name":"Huaijin Chen","orcid":"https://orcid.org/0009-0001-4469-5655"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Huaijin Chen","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium"],"raw_orcid":"https://orcid.org/0009-0001-4469-5655","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108836919","display_name":"Syeda Shadab Zehra Zaidi","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Syeda Shadab Zehra Zaidi","raw_affiliation_strings":["Biorobotics Institute, Scuola Superiore Sant&#x2019;Anna (SSSA), Pisa, Italy","Biorobotics Institute, Scuola Superiore Sant&#x0027;Anna (SSSA), Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Institute, Scuola Superiore Sant&#x2019;Anna (SSSA), Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Biorobotics Institute, Scuola Superiore Sant&#x0027;Anna (SSSA), Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085285823","display_name":"Ellen Roels","orcid":"https://orcid.org/0000-0002-0362-8499"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ellen Roels","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-0362-8499","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hendrik Cools","orcid":null},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Hendrik Cools","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-4881-9341","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000399195","display_name":"Seppe Terryn","orcid":"https://orcid.org/0000-0002-9213-4502"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Seppe Terryn","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-9213-4502","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, Elsene, Belgium","institution_ids":["https://openalex.org/I13469542"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3376,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52732491,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"41","issue":null,"first_page":"5951","last_page":"5965"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9997000098228455,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7391214966773987},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7342711687088013},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6336396336555481},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6293491125106812},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4992697238922119},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.46570757031440735},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3955855965614319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37196260690689087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3351355791091919},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3056151568889618},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.20663362741470337}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7391214966773987},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7342711687088013},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6336396336555481},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6293491125106812},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4992697238922119},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.46570757031440735},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3955855965614319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37196260690689087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3351355791091919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3056151568889618},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.20663362741470337}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2025.3588726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588726","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"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:260568","is_oa":true,"landing_page_url":"https://biblio.vub.ac.be/vubir/3dprintable-creasefree-origami-vacuum-bending-actuators-for-soft-robots(a65f9201-8198-477e-b6dd-dda976e3f0c7).html","pdf_url":"https://biblio.vub.ac.be/vubirfiles/140353026/3D_printable_crease_free_origami_vacuum_bendi_Wang_Zhanwei.pdf","source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"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":"article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:241742","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"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":"article"}],"best_oa_location":{"id":"pmh:oai:vubissmart:VUBISSMART:2000:260568","is_oa":true,"landing_page_url":"https://biblio.vub.ac.be/vubir/3dprintable-creasefree-origami-vacuum-bending-actuators-for-soft-robots(a65f9201-8198-477e-b6dd-dda976e3f0c7).html","pdf_url":"https://biblio.vub.ac.be/vubirfiles/140353026/3D_printable_crease_free_origami_vacuum_bendi_Wang_Zhanwei.pdf","source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"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":"article"},"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412444776.pdf","grobid_xml":"https://content.openalex.org/works/W4412444776.grobid-xml"},"referenced_works_count":58,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1969107377","https://openalex.org/W2005768783","https://openalex.org/W2007924815","https://openalex.org/W2033300014","https://openalex.org/W2579914631","https://openalex.org/W2752165401","https://openalex.org/W2769501833","https://openalex.org/W2790615739","https://openalex.org/W2792903561","https://openalex.org/W2801458905","https://openalex.org/W2808508330","https://openalex.org/W2884957839","https://openalex.org/W2901593347","https://openalex.org/W2947346762","https://openalex.org/W2947373449","https://openalex.org/W2959627570","https://openalex.org/W2966493068","https://openalex.org/W2980842802","https://openalex.org/W2986783566","https://openalex.org/W2997291874","https://openalex.org/W3003612685","https://openalex.org/W3008620731","https://openalex.org/W3028072012","https://openalex.org/W3037511334","https://openalex.org/W3096986840","https://openalex.org/W3098128465","https://openalex.org/W3121752184","https://openalex.org/W3124112071","https://openalex.org/W3129037904","https://openalex.org/W3130943020","https://openalex.org/W3144134053","https://openalex.org/W3157826612","https://openalex.org/W3170723656","https://openalex.org/W3181213630","https://openalex.org/W3182876518","https://openalex.org/W3198584734","https://openalex.org/W3211468091","https://openalex.org/W3216439509","https://openalex.org/W4210745457","https://openalex.org/W4211178353","https://openalex.org/W4224212201","https://openalex.org/W4225796442","https://openalex.org/W4253735485","https://openalex.org/W4283267185","https://openalex.org/W4291815111","https://openalex.org/W4293102230","https://openalex.org/W4296164777","https://openalex.org/W4307974734","https://openalex.org/W4312290376","https://openalex.org/W4319996495","https://openalex.org/W4381488164","https://openalex.org/W4385433393","https://openalex.org/W4385569746","https://openalex.org/W4385844293","https://openalex.org/W4386023764","https://openalex.org/W4390145649","https://openalex.org/W4392593953"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W1640559846","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W2191403106","https://openalex.org/W3028163505","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W4385439013","https://openalex.org/W3206105843"],"abstract_inverted_index":{"While":[0],"vacuum-based":[1],"bending":[2,27,39,46,77,144],"actuation":[3,22],"offers":[4],"benefits":[5],"such":[6],"as":[7,134],"safety":[8],"and":[9,29,48,123,181],"compactness":[10],"in":[11,86,136,173],"soft":[12,100,139],"robotics,":[13],"it":[14],"is":[15],"often":[16],"overlooked":[17],"due":[18],"to":[19,80,149,157,195],"its":[20,164],"limited":[21],"pressure,":[23],"which":[24],"restricts":[25],"both":[26,43],"angle":[28],"force":[30,183],"output.":[31],"This":[32,160],"study":[33],"presents":[34],"a":[35,87,98,103,115,186],"crease-free,":[36],"origami-inspired":[37],"vacuum":[38,45,176],"actuator":[40,148],"that":[41],"advances":[42],"state-of-the-art":[44],"actuators":[47],"traditional":[49],"origami":[50],"deformation":[51],"principles":[52],"by":[53],"introducing":[54],"orderly":[55],"self-folding":[56],"through":[57,62],"optimized":[58],"stiffness":[59],"distribution.":[60],"Achieved":[61],"finite":[63],"element":[64],"method":[65],"(FEM),":[66],"this":[67],"design":[68,93],"provides":[69],"several":[70],"advantages:":[71],"(i)":[72],"Self-folding":[73],"allows":[74],"for":[75,184],"high":[76],"angles":[78,145],"(up":[79],"138<inline-formula":[81],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[82],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[83],"notation=\"LaTeX\">$^{\\circ":[84],"}$</tex-math></inline-formula>)":[85],"compact":[88,127],"form.":[89],"(ii)":[90],"The":[91,126,142],"crease-free":[92],"facilitates":[94],"3D":[95],"printing":[96],"from":[97,191],"single":[99],"material":[101],"using":[102],"consumer-level":[104],"fused":[105],"filament":[106],"fabrication":[107],"(FFF)":[108],"printer,":[109],"specifically":[110],"thermoplastic":[111],"polyurethane":[112],"(TPU)":[113],"with":[114,163,169],"Shore":[116],"hardness":[117],"of":[118,189],"60A,":[119],"potentially":[120],"higher":[121],"flexibility":[122],"durability.":[124],"(iii)":[125],"configuration":[128],"enables":[129,167],"modular":[130],"design,":[131],"supporting":[132],"reconfiguration":[133],"demonstrated":[135],"adaptable":[137],"locomotion":[138],"robots.":[140],"(iv)":[141],"large":[143,179],"allow":[146],"the":[147],"wrap":[150],"around":[151],"objects,":[152,190],"offering":[153],"extensive":[154],"contact":[155],"compared":[156],"other":[158],"designs.":[159],"capability,":[161],"combined":[162],"vacuum-driven":[165],"mechanism,":[166],"synergy":[168],"self-closing":[170],"suction":[171],"cups":[172],"an":[174],"octopus-like":[175],"gripper,":[177],"providing":[178],"versatility":[180],"grasping":[182],"handling":[185],"wide":[187],"range":[188],"small,":[192],"irregular":[193],"shapes":[194],"larger,":[196],"flat":[197],"items.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}
