{"id":"https://openalex.org/W2791182798","doi":"https://doi.org/10.1109/rcar.2017.8311829","title":"Stiffening of soft robotic actuators \u2014 Jamming approaches","display_name":"Stiffening of soft robotic actuators \u2014 Jamming approaches","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2791182798","doi":"https://doi.org/10.1109/rcar.2017.8311829","mag":"2791182798"},"language":"en","primary_location":{"id":"doi:10.1109/rcar.2017.8311829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2017.8311829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5100757196","display_name":"Yonghua Chen","orcid":"https://orcid.org/0000-0003-4020-1977"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yonghua Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P.R. China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030485480","display_name":"Yunquan Li","orcid":"https://orcid.org/0000-0001-8425-2982"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunquan Li","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P.R. China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000372398","display_name":"Yingtian Li","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yingtian Li","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P.R. China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101621485","display_name":"Yizhong Wang","orcid":"https://orcid.org/0000-0002-9760-3910"},"institutions":[{"id":"https://openalex.org/I132369690","display_name":"Tianjin University of Science and Technology","ror":"https://ror.org/018rbtf37","country_code":"CN","type":"education","lineage":["https://openalex.org/I132369690"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhong Wang","raw_affiliation_strings":["School of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjing"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjing","institution_ids":["https://openalex.org/I132369690"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100757196"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.56952617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"17","last_page":"21"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9872000217437744,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9804999828338623,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffening","display_name":"Stiffening","score":0.9139825701713562},{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.771409273147583},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7056081295013428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6339829564094543},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6216629147529602},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.6126102805137634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5727404952049255},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4693618416786194},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33842766284942627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3221816420555115},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2397819459438324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21691295504570007}],"concepts":[{"id":"https://openalex.org/C108729823","wikidata":"https://www.wikidata.org/wiki/Q3716064","display_name":"Stiffening","level":2,"score":0.9139825701713562},{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.771409273147583},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7056081295013428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6339829564094543},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6216629147529602},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.6126102805137634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5727404952049255},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4693618416786194},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33842766284942627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3221816420555115},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2397819459438324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21691295504570007},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar.2017.8311829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2017.8311829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1494258739","https://openalex.org/W1545301666","https://openalex.org/W1606846501","https://openalex.org/W1677601221","https://openalex.org/W1829894202","https://openalex.org/W1847353717","https://openalex.org/W1902605501","https://openalex.org/W1972418083","https://openalex.org/W2007924815","https://openalex.org/W2010569445","https://openalex.org/W2010745100","https://openalex.org/W2025613329","https://openalex.org/W2027454283","https://openalex.org/W2029744358","https://openalex.org/W2036723211","https://openalex.org/W2073677587","https://openalex.org/W2074535625","https://openalex.org/W2079574144","https://openalex.org/W2118981531","https://openalex.org/W2120556101","https://openalex.org/W2154963933","https://openalex.org/W2166445683","https://openalex.org/W2166585449","https://openalex.org/W2518073382","https://openalex.org/W2577404187","https://openalex.org/W6638885464"],"related_works":["https://openalex.org/W2121188127","https://openalex.org/W2911174503","https://openalex.org/W2220185659","https://openalex.org/W2992422696","https://openalex.org/W2050096417","https://openalex.org/W2382012648","https://openalex.org/W2071168507","https://openalex.org/W1606846501","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"Soft":[0],"robotic":[1],"devices":[2],"could":[3],"provide":[4],"inherent":[5,37],"compliance":[6,15,38],"and":[7,83],"conformity":[8],"to":[9,31,47,50],"external":[10],"objects.":[11],"However,":[12],"the":[13,62],"good":[14],"of":[16,23,36,56,66,90],"soft":[17,67,79],"robots":[18],"is":[19,28],"a":[20,33],"direct":[21],"compromise":[22],"its":[24],"structural":[25,43,58],"rigidity.":[26],"It":[27],"technically":[29],"challenging":[30],"achieve":[32],"large":[34],"degree":[35],"while":[39],"also":[40],"maintaining":[41],"reasonable":[42],"stiffness":[44],"in":[45,61,69],"order":[46],"exert":[48],"forces":[49],"perform":[51],"required":[52],"tasks.":[53],"The":[54],"lack":[55],"sufficient":[57],"rigidity":[59],"results":[60],"limited":[63],"task":[64],"efficacy":[65],"actuators":[68],"practical":[70],"applications.":[71],"This":[72],"paper":[73],"will":[74],"look":[75],"into":[76],"jamming":[77],"based":[78],"actuator":[80],"stiffening":[81,92],"methods":[82],"compare":[84],"their":[85],"performance.":[86],"Suitable":[87],"application":[88],"areas":[89],"each":[91],"method":[93],"are":[94],"recommended.":[95]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}