{"id":"https://openalex.org/W3036943260","doi":"https://doi.org/10.1109/robosoft48309.2020.9116055","title":"An Easy Use Auxiliary Arm: Design and Control of a Portable Continuum Manipulator for Enhanced Dexterity by Soft-Rigid Arms Collaboration","display_name":"An Easy Use Auxiliary Arm: Design and Control of a Portable Continuum Manipulator for Enhanced Dexterity by Soft-Rigid Arms Collaboration","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3036943260","doi":"https://doi.org/10.1109/robosoft48309.2020.9116055","mag":"3036943260"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9116055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","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/A5076068721","display_name":"Bingbin Yu","orcid":"https://orcid.org/0000-0001-5400-0880"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Bingbin Yu","raw_affiliation_strings":["Robotic innovation center, German Research Center for Artificial Intelligence (DFKI GmbH), Robert Hooke Strasse 1, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Robotic innovation center, German Research Center for Artificial Intelligence (DFKI GmbH), Robert Hooke Strasse 1, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064022916","display_name":"Sankaranarayanan Natarajan","orcid":"https://orcid.org/0000-0003-3356-7735"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sankaranarayanan Natarajan","raw_affiliation_strings":["Robotic innovation center, German Research Center for Artificial Intelligence (DFKI GmbH), Robert Hooke Strasse 1, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Robotic innovation center, German Research Center for Artificial Intelligence (DFKI GmbH), Robert Hooke Strasse 1, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076068721"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":0.1718,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45334771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"164","last_page":"169"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9704999923706055,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7956111431121826},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6424331068992615},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6287462711334229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5861561894416809},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5734462738037109},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5589999556541443},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4721638858318329},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45403385162353516},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4369293749332428},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4254089593887329},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.375469833612442},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29507002234458923},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2795524001121521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27425265312194824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20307046175003052},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11901941895484924},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10211768746376038},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09379500150680542}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7956111431121826},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6424331068992615},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6287462711334229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5861561894416809},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5734462738037109},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5589999556541443},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4721638858318329},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45403385162353516},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4369293749332428},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4254089593887329},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.375469833612442},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29507002234458923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2795524001121521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27425265312194824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20307046175003052},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11901941895484924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10211768746376038},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09379500150680542},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9116055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","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":22,"referenced_works":["https://openalex.org/W1485346879","https://openalex.org/W1499925623","https://openalex.org/W1919781749","https://openalex.org/W1969062189","https://openalex.org/W1985060396","https://openalex.org/W2101667962","https://openalex.org/W2154299778","https://openalex.org/W2160825462","https://openalex.org/W2523642729","https://openalex.org/W2593483954","https://openalex.org/W2620963038","https://openalex.org/W2741086304","https://openalex.org/W2743342084","https://openalex.org/W2745494968","https://openalex.org/W2790407588","https://openalex.org/W2890132254","https://openalex.org/W2893780659","https://openalex.org/W2904034382","https://openalex.org/W2921397506","https://openalex.org/W2926374707","https://openalex.org/W2940726020","https://openalex.org/W6738275558"],"related_works":["https://openalex.org/W1562113309","https://openalex.org/W3205293468","https://openalex.org/W3153071684","https://openalex.org/W2898704591","https://openalex.org/W2503557016","https://openalex.org/W3036943260","https://openalex.org/W1582216373","https://openalex.org/W2213675931","https://openalex.org/W162725959","https://openalex.org/W2377032150"],"abstract_inverted_index":{"Continuum":[0],"manipulator":[1,30,141,168],"offers":[2],"superior":[3],"flexibility,":[4],"deformability":[5],"and":[6,19,55,62,94,108,128,179,182],"adaptability":[7],"to":[8,64,124,142,150],"the":[9,28,35,69,74,78,91,109,115,126,131,135,139,161,165,180],"environment,":[10],"which":[11,49,86,146],"makes":[12],"it":[13],"ideally":[14],"suitable":[15],"for":[16,20,58],"safe":[17],"interaction":[18],"applications":[21],"in":[22,34,154],"confined":[23,156],"spaces.":[24],"Owning":[25],"these":[26],"advantages,":[27],"continuum":[29,47,140,167],"gains":[31],"increasing":[32],"interests":[33],"fields":[36],"of":[37,77,103,117,130,138,160,184],"surgical,":[38],"underwater,":[39],"inspection,":[40],"etc.":[41],"This":[42],"paper":[43],"introduces":[44],"a":[45,80,88,118,143,155,175,185],"novel":[46],"manipulator,":[48,79,132,145],"is":[50,84],"designed":[51],"as":[52],"an":[53,152],"independent":[54],"auxiliary":[56],"modular":[57],"bringing":[59],"extra":[60],"dexterity":[61,181],"reachability":[63],"different":[65],"rigid":[66,144],"platforms.":[67],"With":[68],"aim":[70],"at":[71],"precisely":[72],"calculating":[73],"gripper":[75],"pose":[76],"probabilistic":[81,177],"model-based":[82],"approach":[83,111],"used,":[85],"learns":[87],"mapping":[89],"among":[90],"actuator":[92],"space":[93,96],"task":[95],"from":[97],"experiments":[98,162],"by":[99,173,192],"using":[100,174],"dynamic":[101],"mixture":[102],"Gaussians.":[104],"The":[105,158],"learned":[106,176],"model":[107,178],"control":[110],"are":[112,147],"validated":[113],"with":[114],"help":[116],"3D":[119],"trajectory":[120],"tracking":[121],"system.":[122],"Finally,":[123],"test":[125],"versatility":[127],"reliability":[129],"we":[133],"mount":[134],"actuation":[136],"base":[137],"then":[148],"used":[149],"manipulate":[151],"object":[153],"space.":[157],"results":[159],"show":[163],"that":[164],"proposed":[166],"can":[169],"be":[170,189],"controlled":[171],"effectively":[172],"workspace":[183],"robotic":[186],"system":[187],"could":[188],"enhanced":[190],"significantly":[191],"soft-rigid":[193],"arm":[194],"collaboration.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}