{"id":"https://openalex.org/W4389665834","doi":"https://doi.org/10.1109/iros55552.2023.10342146","title":"A New Design of Multilayered String Jamming Mechanism with Three-Degree-of-Freedom","display_name":"A New Design of Multilayered String Jamming Mechanism with Three-Degree-of-Freedom","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665834","doi":"https://doi.org/10.1109/iros55552.2023.10342146"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342146","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5040808800","display_name":"Ryohei Michikawa","orcid":"https://orcid.org/0000-0002-8634-0932"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryohei Michikawa","raw_affiliation_strings":["Graduate School of Engineering, Kyoto Univer-sity,Department of Mechanical Engineering and Science,Kyoto,Japan,606-8501"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyoto Univer-sity,Department of Mechanical Engineering and Science,Kyoto,Japan,606-8501","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University,Applied Information Sciences Department,Sendai,Japan,980- 8576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University,Applied Information Sciences Department,Sendai,Japan,980- 8576","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Graduate School of Engineering, Kyoto Univer-sity,Department of Mechanical Engineering and Science,Kyoto,Japan,606-8501"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyoto Univer-sity,Department of Mechanical Engineering and Science,Kyoto,Japan,606-8501","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"28","issue":null,"first_page":"8349","last_page":"8355"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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/jamming","display_name":"Jamming","score":0.8701481819152832},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7745412588119507},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7561877965927124},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.6901808977127075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6520560383796692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6174603700637817},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5199107527732849},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5084637403488159},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4439452886581421},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40050411224365234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3261379301548004},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.30272114276885986},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.288566529750824},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1752910315990448},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12471702694892883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1238783597946167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12185588479042053},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06768590211868286}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8701481819152832},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7745412588119507},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7561877965927124},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.6901808977127075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6520560383796692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6174603700637817},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5199107527732849},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5084637403488159},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4439452886581421},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40050411224365234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3261379301548004},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.30272114276885986},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.288566529750824},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1752910315990448},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12471702694892883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1238783597946167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12185588479042053},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06768590211868286},{"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/iros55552.2023.10342146","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W2004967763","https://openalex.org/W2007924815","https://openalex.org/W2020635539","https://openalex.org/W2094596736","https://openalex.org/W2441297925","https://openalex.org/W2577404187","https://openalex.org/W3014113596","https://openalex.org/W3035847082","https://openalex.org/W3038104529","https://openalex.org/W4301718283","https://openalex.org/W6652535910"],"related_works":["https://openalex.org/W4200319726","https://openalex.org/W1984793747","https://openalex.org/W4312547492","https://openalex.org/W3197729047","https://openalex.org/W1624160917","https://openalex.org/W1987034598","https://openalex.org/W2370486284","https://openalex.org/W2143847498","https://openalex.org/W2354671671","https://openalex.org/W2963685604"],"abstract_inverted_index":{"A":[0],"robot":[1,21],"must":[2],"exhibit":[3],"softness":[4],"so":[5,18],"as":[6],"not":[7],"to":[8,34,37,49,79,128],"accidentally":[9],"damage":[10],"its":[11],"environment.":[12],"However,":[13],"stiffness":[14,103,157],"is":[15,32],"also":[16],"necessary,":[17],"that":[19,99,144],"the":[20,50,57,95,101,105,115,118,123,126,129,138,141,155,159,162],"can":[22],"transmit":[23],"forces":[24],"and":[25,52,83,136],"perform":[26],"tasks.":[27],"In":[28,86],"soft":[29],"robotics,":[30],"it":[31],"desirable":[33],"be":[35],"able":[36],"switch":[38,80],"between":[39,81],"two":[40],"states,":[41],"namely":[42],"a":[43,53,70,91,110,132,166],"flexible":[44,82,119],"state":[45,55,107],"for":[46,56,76,114],"adapt":[47],"ion":[48],"environment":[51,116,130],"rigid":[54,84,106],"transmission":[58],"of":[59,94,125,140,145,152,161,169],"forces.":[60],"String":[61],"jamming":[62,97,148],"mechanisms,":[63],"which":[64],"comprise":[65],"many":[66],"units":[67],"connected":[68],"in":[69,104,117,131],"bead-like":[71],"pattern,":[72],"have":[73],"received":[74],"attention":[75],"their":[77],"ability":[78],"states.":[85],"this":[87],"study,":[88],"we":[89],"propose":[90],"new":[92],"design":[93],"string":[96,147],"mechanism":[98,127,142,164],"enhances":[100],"maximum":[102,156],"while":[108],"maintaining":[109],"high":[111],"fitting":[112,124],"performance":[113,139],"state.":[120],"We":[121],"evaluate":[122],"qualitative":[133],"geometric":[134],"discussion":[135],"compare":[137],"with":[143],"existing":[146],"mechanisms.":[149],"The":[150],"results":[151],"experiments":[153],"measuring":[154],"show":[158],"usefulness":[160],"proposed":[163],"from":[165],"quantitative":[167],"point":[168],"view.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
