{"id":"https://openalex.org/W4411019350","doi":"https://doi.org/10.1109/robosoft63089.2025.11020926","title":"Parametric Design of a Tendon-Driven Continuum Robot for Industrial Applications","display_name":"Parametric Design of a Tendon-Driven Continuum Robot for Industrial Applications","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019350","doi":"https://doi.org/10.1109/robosoft63089.2025.11020926"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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/A5077449907","display_name":"Puspita Triana Dewi","orcid":"https://orcid.org/0009-0008-5443-0256"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Puspita Triana Dewi","raw_affiliation_strings":["University of Toronto,Continuum Robotics Laboratory,Department of Mathematical & Computational Sciences,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto,Continuum Robotics Laboratory,Department of Mathematical & Computational Sciences,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065407087","display_name":"Chloe Pogue","orcid":"https://orcid.org/0000-0002-9855-4372"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chloe Pogue","raw_affiliation_strings":["University of Toronto,Continuum Robotics Laboratory,Department of Mathematical & Computational Sciences,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto,Continuum Robotics Laboratory,Department of Mathematical & Computational Sciences,Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087473881","display_name":"Jessica Burgner-Kahrs","orcid":"https://orcid.org/0000-0001-9185-3970"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jessica Burgner-Kahrs","raw_affiliation_strings":["University of Toronto,Continuum Robotics Laboratory,Department of Mathematical & Computational Sciences,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto,Continuum Robotics Laboratory,Department of Mathematical & Computational Sciences,Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077449907"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":1.3907,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80927481,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9984999895095825,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9951000213623047,"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/parametric-statistics","display_name":"Parametric statistics","score":0.6348932981491089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5960798263549805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5076671838760376},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18561846017837524},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1765693724155426}],"concepts":[{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6348932981491089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5960798263549805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5076671838760376},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18561846017837524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1765693724155426},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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":21,"referenced_works":["https://openalex.org/W1590804794","https://openalex.org/W2121168822","https://openalex.org/W2124540383","https://openalex.org/W2184993170","https://openalex.org/W2763080578","https://openalex.org/W2804481957","https://openalex.org/W2890132254","https://openalex.org/W2911852994","https://openalex.org/W2919013143","https://openalex.org/W2962202409","https://openalex.org/W2981404803","https://openalex.org/W3080406417","https://openalex.org/W3162841573","https://openalex.org/W3183244442","https://openalex.org/W3200868167","https://openalex.org/W4210927443","https://openalex.org/W4396853570","https://openalex.org/W4400111031","https://openalex.org/W4401633913","https://openalex.org/W4405786928","https://openalex.org/W6865068998"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Continuum":[0,46],"robot":[1,15],"researchers":[2],"must":[3],"often":[4],"create":[5,43],"entirely":[6],"new":[7],"prototypes":[8],"for":[9,23,35],"their":[10,20],"applications":[11],"as":[12],"existing":[13],"continuum":[14],"designs":[16],"do":[17],"not":[18],"meet":[19],"requirements,":[21],"especially":[22],"industrial":[24],"applications.":[25],"To":[26],"address":[27],"this":[28],"issue,":[29],"we":[30,60],"leverage":[31],"a":[32,44,55,72,130,138],"parametric":[33,119],"design":[34,120],"modular":[36,66],"units,":[37],"which":[38],"can":[39],"be":[40],"utilized":[41],"to":[42,50,75,84,97],"Tendon-Driven":[45],"Robot":[47],"(TDCR)":[48],"tailored":[49],"specific":[51],"task":[52,95,107],"requirements.":[53],"Using":[54],"Design":[56],"of":[57,88,93],"Experiment":[58],"approach,":[59],"identify":[61],"the":[62,65,86,91,94,98,118],"relationship":[63],"between":[64],"units\u2019":[67],"stiffness":[68],"and":[69,110],"dimensions,":[70],"establishing":[71],"mathematical":[73],"framework":[74],"guide":[76,85],"TDCR":[77,114,123],"parametrization.":[78],"A":[79],"structured":[80],"workflow":[81],"is":[82],"provided":[83],"development":[87],"TDCRs,":[89],"from":[90],"definition":[92],"objectives":[96],"experimental":[99],"validation.":[100],"For":[101],"demonstration,":[102],"an":[103,111],"aircraft":[104],"wing":[105,135],"inspection":[106],"was":[108,115],"selected":[109],"816":[112],"mm":[113],"prototyped":[116],"using":[117],"approach.":[121],"The":[122],"successfully":[124],"inspected":[125],"all":[126],"target":[127],"areas":[128],"in":[129],"1:3":[131],"scaled":[132],"Cessna":[133],"172":[134],"model,":[136],"yielding":[137],"100%":[139],"coverage":[140],"rate.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}