{"id":"https://openalex.org/W2075059474","doi":"https://doi.org/10.1109/mra.2008.927696","title":"Toward soft robots you can depend on","display_name":"Toward soft robots you can depend on","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2075059474","doi":"https://doi.org/10.1109/mra.2008.927696","mag":"2075059474"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2008.927696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2008.927696","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 Robotics &amp; Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3444641","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055523878","display_name":"R. Filippini","orcid":"https://orcid.org/0009-0007-3443-1174"},"institutions":[{"id":"https://openalex.org/I2802229908","display_name":"Paul Scherrer Institute","ror":"https://ror.org/03eh3y714","country_code":"CH","type":"facility","lineage":["https://openalex.org/I2799323385","https://openalex.org/I2802229908"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["CH","IT"],"is_corresponding":true,"raw_author_name":"Roberto Filippini","raw_affiliation_strings":["Paul Scherrer Institut, Switzerland","Interdepartmental Res. Centre, Univ. of Pisa, Pisa"],"affiliations":[{"raw_affiliation_string":"Paul Scherrer Institut, Switzerland","institution_ids":["https://openalex.org/I2802229908"]},{"raw_affiliation_string":"Interdepartmental Res. Centre, Univ. of Pisa, Pisa","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042918687","display_name":"Soumen Sen","orcid":"https://orcid.org/0000-0003-4906-7727"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Soumen Sen","raw_affiliation_strings":["Automation, robotics, and bioengineering, University of Pisa","Centro Interdipartimentale di Ricerca E. Piaggio, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Automation, robotics, and bioengineering, University of Pisa","institution_ids":["https://openalex.org/I108290504"]},{"raw_affiliation_string":"Centro Interdipartimentale di Ricerca E. Piaggio, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Interdepartmental Research Centre E. Piaggio, University of Pisa, Pisa, Italy","Interdepartmental Res. Centre, Univ. of Pisa, Pisa"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Centre E. Piaggio, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Interdepartmental Res. Centre, Univ. of Pisa, Pisa","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055523878"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I2802229908"],"apc_list":null,"apc_paid":null,"fwci":29.4503,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.99403943,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"3","first_page":"31","last_page":"41"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13690","display_name":"Quality and Safety in Healthcare","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/3607","display_name":"Medical Laboratory Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T13690","display_name":"Quality and Safety in Healthcare","score":0.9667999744415283,"subfield":{"id":"https://openalex.org/subfields/3607","display_name":"Medical Laboratory Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9564999938011169,"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/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9466000199317932,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dependability","display_name":"Dependability","score":0.8338894248008728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6908172369003296},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.592355489730835},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.577005922794342},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5413981676101685},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.5263639092445374},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5242652893066406},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4954313039779663},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.48973846435546875},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.4865211844444275},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40195325016975403},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.37303078174591064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34280118346214294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.244299978017807}],"concepts":[{"id":"https://openalex.org/C77019957","wikidata":"https://www.wikidata.org/wiki/Q2689057","display_name":"Dependability","level":2,"score":0.8338894248008728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6908172369003296},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.592355489730835},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.577005922794342},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5413981676101685},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.5263639092445374},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5242652893066406},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4954313039779663},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.48973846435546875},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.4865211844444275},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40195325016975403},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.37303078174591064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34280118346214294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.244299978017807},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/mra.2008.927696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2008.927696","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 Robotics &amp; Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/121454","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4624581","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:dora:psi_56086","is_oa":false,"landing_page_url":"https://www.dora.lib4ri.ch/psi/islandora/object/psi%3A56086","pdf_url":null,"source":{"id":"https://openalex.org/S4306402574","display_name":"DORA PSI (Paul Scherrer Institute)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802229908","host_organization_name":"Paul Scherrer Institute","host_organization_lineage":["https://openalex.org/I2802229908"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:zenodo.org:3444641","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3444641","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444641","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W28635149","https://openalex.org/W96584681","https://openalex.org/W199246563","https://openalex.org/W266102028","https://openalex.org/W317298034","https://openalex.org/W1494913918","https://openalex.org/W1527317423","https://openalex.org/W1546103405","https://openalex.org/W1579753478","https://openalex.org/W1599599357","https://openalex.org/W1915593659","https://openalex.org/W1964753307","https://openalex.org/W1996165017","https://openalex.org/W2042846337","https://openalex.org/W2047851005","https://openalex.org/W2060601808","https://openalex.org/W2096178249","https://openalex.org/W2102762991","https://openalex.org/W2111025324","https://openalex.org/W2113873479","https://openalex.org/W2115730616","https://openalex.org/W2128614692","https://openalex.org/W2131404784","https://openalex.org/W2145071552","https://openalex.org/W2145708165","https://openalex.org/W2157820065","https://openalex.org/W2162066092","https://openalex.org/W2165143308","https://openalex.org/W2169706473","https://openalex.org/W2170646120","https://openalex.org/W2171907955","https://openalex.org/W2186660809","https://openalex.org/W2254352181","https://openalex.org/W2520654854","https://openalex.org/W4297744580","https://openalex.org/W6608103355"],"related_works":["https://openalex.org/W2169628522","https://openalex.org/W2368019753","https://openalex.org/W4252527915","https://openalex.org/W2333930193","https://openalex.org/W2409287660","https://openalex.org/W2233357156","https://openalex.org/W1976489385","https://openalex.org/W2737356002","https://openalex.org/W4256317220","https://openalex.org/W2246241526"],"abstract_inverted_index":{"In":[0,292],"this":[1,206,265,293],"article,":[2],"we":[3,198],"performed":[4],"an":[5,11,99],"analysis":[6,74],"of":[7,10,64,75,79,88,106,124,156,192,214,230,239,261,264,280,308,310,327],"the":[8,18,28,35,73,113,122,144,172,183,212,231,240,262,306],"dependability":[9,93,273],"elementary":[12],"yet":[13],"critical":[14],"robot":[15,24,296],"component,":[16],"i.e.,":[17,31],"joint-level":[19],"actuation":[20,81],"subsystem.":[21],"We":[22],"consider":[23],"actuators":[25],"that":[26,171],"implement":[27],"VSA":[29],"paradigm,":[30],"ability":[32],"to":[33,41,69,97,110,121,268,320],"change":[34],"effective":[36],"transmission":[37],"stiffness":[38],"during":[39],"motion":[40],"achieve":[42],"high":[43],"performance":[44],"while":[45],"constantly":[46],"keeping":[47],"injury":[48],"risks":[49],"by":[50,165],"accidental":[51],"impacts":[52,157],"with":[53,290],"humans":[54],"below":[55],"a":[56,61,166,278,295,301,328],"given":[57],"threshold.":[58],"Without":[59],"attempting":[60],"comprehensive":[62],"review":[63],"different":[65,77,173],"existing":[66],"design":[67,313],"approaches":[68],"VSA,we":[70],"focused":[71],"on":[72],"three":[76],"arrangements":[78,185],"agonistic/antagonistic":[80],"mechanisms":[82],"for":[83,153,182,287,297,304],"pHRI":[84,298],"applications.":[85],"Several":[86],"aspects":[87],"their":[89],"performance,":[90,322],"safety,":[91],"and":[92,149,217,225,237,242,252,270,324],"have":[94,175],"been":[95],"considered":[96,222],"get":[98],"indicative,":[100],"though":[101],"certainly":[102],"not":[103,131,163,200],"exhaustive,":[104],"comparison":[105],"these":[107],"alternatives.":[108],"According":[109],"our":[111],"results,":[112],"simple":[114,145],"AA":[115,146],"arrangement":[116],"is":[117,130,196,300],"more":[118],"reliable":[119],"(due":[120],"simplicity":[123],"its":[125],"mechanical":[126],"implementation)":[127],"if":[128],"FM":[129,134,195],"used.":[132],"Proper":[133],"actions":[135],"can":[136,150,233],"make":[137],"other":[138],"designs":[139,174],"perform":[140,151],"equally":[141],"well":[142,315],"as":[143,277,314,316],"concerning":[147],"reliability":[148],"better":[152],"steerability.":[154],"Simulations":[155],"in":[158,190,205,223,275,283,317],"failed":[159],"states":[160],"(where":[161],"FMis":[162],"used":[164],"worst-case":[167],"assumption)":[168],"also":[169],"show":[170],"comparable":[176],"safety":[177,325],"properties.":[178],"Although":[179],"overall":[180],"results":[181,213],"bidirectional":[184],"are":[186],"somewhat":[187],"superior,":[188],"especially":[189],"terms":[191],"steerability":[193],"(if":[194],"applied),":[197],"do":[199],"extrapolate":[201],"any":[202],"general":[203],"claim":[204],"regard.":[207],"Indeed,":[208],"many":[209,238],"factors":[210],"influence":[211],"similar":[215],"studies,":[216],"each":[218],"case":[219],"should":[220],"be":[221],"detail":[224],"very":[226],"carefully.":[227],"The":[228],"scope":[229],"study":[232],"become":[234],"quite":[235],"broad,":[236],"theoretical":[241],"technical":[243],"issues":[244,326],"presented":[245],"here":[246],"(e.g.,":[247],"fault":[248,311],"detection,":[249],"supervisory":[250],"control,":[251],"safety-related":[253],"systems)":[254],"will":[255],"require":[256],"further":[257,271],"separated":[258],"investigations.":[259],"One":[260],"purposes":[263],"work":[266],"was":[267],"explore":[269],"promote":[272],"studies":[274],"robotics,":[276],"means":[279],"addressing":[281],"concerns":[282],"safety-critical":[284],"robotic":[285,329],"systems":[286],"physical":[288],"interactions":[289],"humans.":[291],"sense,":[294],"applications":[299],"unique":[302],"benchmark":[303],"improving":[305],"state":[307],"art":[309],"tolerant":[312],"developing":[318],"tools":[319],"master":[321],"dependability,":[323],"structure.":[330]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
