{"id":"https://openalex.org/W7101789782","doi":"https://doi.org/10.1109/tro.2025.3626601","title":"A Static Modeling and Evaluation Framework for Soft Continuum Robots With Reinforced Chambers","display_name":"A Static Modeling and Evaluation Framework for Soft Continuum Robots With Reinforced Chambers","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7101789782","doi":"https://doi.org/10.1109/tro.2025.3626601"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3626601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3626601","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://hdl.handle.net/10044/1/125312","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jialei Shi","orcid":"https://orcid.org/0000-0001-7168-492X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jialei Shi","raw_affiliation_strings":["Department of Mechanical Engineering, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7168-492X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hanyu Jin","orcid":"https://orcid.org/0009-0008-4015-2347"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanyu Jin","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0008-4015-2347","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wenlong Gaozhang","orcid":"https://orcid.org/0000-0002-0600-6433"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wenlong Gaozhang","raw_affiliation_strings":["Department of Mechanical Engineering, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0600-6433","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ge Shi","orcid":"https://orcid.org/0000-0002-1449-131X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ge Shi","raw_affiliation_strings":["Department of Mechanical Engineering, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1449-131X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sara-Adela Abad","orcid":"https://orcid.org/0000-0002-3471-6942"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sara-Adela Abad","raw_affiliation_strings":["Department of Mechanical Engineering, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3471-6942","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":null,"display_name":"Helge A. Wurdemann","orcid":"https://orcid.org/0000-0003-3082-146X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Helge A. Wurdemann","raw_affiliation_strings":["Department of Mechanical Engineering, University College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3082-146X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8667,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93607461,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"6419","last_page":"6439"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12657","display_name":"Phytochemistry Medicinal Plant Applications","score":0.13619999587535858,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T12657","display_name":"Phytochemistry Medicinal Plant Applications","score":0.13619999587535858,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12685","display_name":"Phytochemical compounds biological activities","score":0.08020000159740448,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T13124","display_name":"Chemical synthesis and alkaloids","score":0.05310000106692314,"subfield":{"id":"https://openalex.org/subfields/1605","display_name":"Organic Chemistry"},"field":{"id":"https://openalex.org/fields/16","display_name":"Chemistry"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7821999788284302},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6416000127792358},{"id":"https://openalex.org/keywords/stiffening","display_name":"Stiffening","score":0.5745000243186951},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5734999775886536},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4438999891281128},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.427700012922287},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.41690000891685486},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.3882000148296356}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7821999788284302},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6416000127792358},{"id":"https://openalex.org/C108729823","wikidata":"https://www.wikidata.org/wiki/Q3716064","display_name":"Stiffening","level":2,"score":0.5745000243186951},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5734999775886536},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4652000069618225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4634000062942505},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4438999891281128},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43970000743865967},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.427700012922287},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.41690000891685486},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.3882000148296356},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.38440001010894775},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38339999318122864},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3718999922275543},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32190001010894775},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.31290000677108765},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31209999322891235},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30160000920295715},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2777999937534332},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C97686452","wikidata":"https://www.wikidata.org/wiki/Q7604153","display_name":"Static analysis","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2025.3626601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3626601","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:spiral.imperial.ac.uk:10044/1/125312","is_oa":true,"landing_page_url":"https://hdl.handle.net/10044/1/125312","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10216458","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10216458/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics , 41 pp. 6419-6439. (2025)","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/125312","is_oa":true,"landing_page_url":"https://hdl.handle.net/10044/1/125312","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5819119215011597}],"awards":[{"id":"https://openalex.org/G2783984459","display_name":"iSeat - Towards an intelligent driver seat for autonomous cars","funder_award_id":"EP/R037795/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G671387533","display_name":"INSTINCT - INtuitive Soft, stiffness-controllable hapTic INterfaCe for soft Tissue palpation during robot-assisted minimally invasive surgery","funder_award_id":"EP/S014039/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7550278058","display_name":"A sensorimotor PROsthesis for the upper LIMB (PROLIMB)","funder_award_id":"EP/V01062X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1567167040","https://openalex.org/W1900860620","https://openalex.org/W1902605501","https://openalex.org/W1952425972","https://openalex.org/W2014473363","https://openalex.org/W2070184318","https://openalex.org/W2097770951","https://openalex.org/W2101132776","https://openalex.org/W2101667962","https://openalex.org/W2105377162","https://openalex.org/W2118177844","https://openalex.org/W2156378823","https://openalex.org/W2165479823","https://openalex.org/W2188087069","https://openalex.org/W2273215869","https://openalex.org/W2284390012","https://openalex.org/W2293554515","https://openalex.org/W2295179809","https://openalex.org/W2561609334","https://openalex.org/W2590007357","https://openalex.org/W2607883703","https://openalex.org/W2618733545","https://openalex.org/W2621077460","https://openalex.org/W2767139586","https://openalex.org/W2768444636","https://openalex.org/W2800392488","https://openalex.org/W2801096292","https://openalex.org/W2807761827","https://openalex.org/W2897782084","https://openalex.org/W2909729638","https://openalex.org/W2911502634","https://openalex.org/W2942096073","https://openalex.org/W2943279746","https://openalex.org/W2958161571","https://openalex.org/W2965005738","https://openalex.org/W2981981438","https://openalex.org/W3000160985","https://openalex.org/W3037722175","https://openalex.org/W3041885040","https://openalex.org/W3097811132","https://openalex.org/W3120158198","https://openalex.org/W3171148826","https://openalex.org/W3183670676","https://openalex.org/W3191560976","https://openalex.org/W3194235646","https://openalex.org/W3199217183","https://openalex.org/W3204719635","https://openalex.org/W4225136411","https://openalex.org/W4225367238","https://openalex.org/W4226213844","https://openalex.org/W4241027714","https://openalex.org/W4285108893","https://openalex.org/W4285149089","https://openalex.org/W4285277024","https://openalex.org/W4296781173","https://openalex.org/W4306986146","https://openalex.org/W4320002894","https://openalex.org/W4376605688","https://openalex.org/W4376605712","https://openalex.org/W4389127909","https://openalex.org/W4389225425","https://openalex.org/W4389735194","https://openalex.org/W4390964714","https://openalex.org/W4391097223","https://openalex.org/W4396853575","https://openalex.org/W4401415740","https://openalex.org/W4402673244","https://openalex.org/W4409147479","https://openalex.org/W4409310579","https://openalex.org/W4410152882","https://openalex.org/W4412939378"],"related_works":[],"abstract_inverted_index":{"Elastomer-based":[0],"soft":[1,12,76,94],"manipulators":[2,162],"with":[3,78,142,148,163],"fibre-reinforced":[4],"chambers,":[5,19],"represent":[6],"a":[7,50,54,68,101,143,149],"prevalent":[8],"design":[9,43,71,133,199],"paradigm":[10],"in":[11],"robotics.":[13],"These":[14],"robots":[15,46,77,95],"incorporate":[16],"multiple":[17],"actuation":[18,181],"enabling":[20],"elongation":[21],"and":[22,31,72,89,112,127,134,166,188],"bending":[23],"motions.":[24],"However,":[25],"the":[26,32,83,86,90,109,113,122,169,177,179,184],"inherent":[27],"compliance":[28],"of":[29,44,60,93,124,161],"materials":[30],"pressurised":[33,125,180],"chambers":[34,81,126,182],"inevitably":[35],"introduce":[36],"significant":[37],"nonlinearity":[38,170],"to":[39,106,202],"these":[40],"robots.":[41],"Moreover,":[42],"such":[45],"often":[47],"relies":[48],"on":[49,198],"trial-and-error":[51],"approach.":[52],"Consequently,":[53],"comprehensive":[55],"robot":[56,203],"prototyping":[57],"framework":[58,74,105,120,136,155],"is":[59,96,156],"paramount":[61],"importance.":[62],"To":[63],"achieve":[64,107],"this,":[65],"we":[66],"present":[67],"static":[69,102],"modelling,":[70],"evaluation":[73,135,151],"for":[75],"densely":[79],"reinforced":[80],"(i.e.,":[82,183],"angle":[84],"between":[85],"reinforcement":[87],"fibre":[88],"axial":[91],"direction":[92],"90\u00b0).":[97],"We":[98],"first":[99],"propose":[100],"analytical":[103],"modelling":[104,119],"both":[108],"forward":[110],"kinematics":[111],"tip":[114],"force":[115],"generation":[116],"modelling.":[117],"This":[118],"accommodates":[121],"effects":[123],"(non)linear":[128],"material":[129,189],"behaviours.":[130],"Furthermore,":[131],"our":[132],"incorporates":[137],"an":[138],"open-accessible":[139],"simulation":[140],"toolbox":[141],"user-friendly":[144],"graphical":[145],"interface,":[146],"along":[147],"physical":[150],"platform.":[152],"The":[153],"entire":[154],"validated":[157],"by":[158,172],"eight":[159],"kinds":[160],"varying":[164],"diameters":[165],"lengths.":[167],"Meanwhile,":[168],"introduced":[171],"geometrical":[173],"deformation":[174],"resulting":[175],"from":[176],"elongation,":[178],"chamber":[185],"stiffening":[186],"effect),":[187],"hyper-elasticity":[190],"are":[191],"investigated.":[192],"Results":[193],"also":[194],"enable":[195],"informed":[196],"decision-making":[197],"specifications":[200],"prior":[201],"fabrication.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-29T00:00:00"}