{"id":"https://openalex.org/W4411136832","doi":"https://doi.org/10.1177/02783649251344328","title":"Design and kinetostatic analysis of a tip-stiffness improved compliant continuum robot using anti-buckling universal joints","display_name":"Design and kinetostatic analysis of a tip-stiffness improved compliant continuum robot using anti-buckling universal joints","publication_year":2025,"publication_date":"2025-06-09","ids":{"openalex":"https://openalex.org/W4411136832","doi":"https://doi.org/10.1177/02783649251344328"},"language":"en","primary_location":{"id":"doi:10.1177/02783649251344328","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649251344328","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/A5025836440","display_name":"Shiyao Li","orcid":"https://orcid.org/0000-0003-2489-8524"},"institutions":[{"id":"https://openalex.org/I27577105","display_name":"University College Cork","ror":"https://ror.org/03265fv13","country_code":"IE","type":"education","lineage":["https://openalex.org/I27577105"]},{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN","IE"],"is_corresponding":false,"raw_author_name":"Shiyao Li","raw_affiliation_strings":["Shenyang Aerospace University","University College Cork","School of Artificial Intelligence, Shenyang Aerospace University, Shenyang, China","School of Engineering and Architecture-Electrical and Electronic Engineering, University College Cork, Cork, Ireland"],"affiliations":[{"raw_affiliation_string":"Shenyang Aerospace University","institution_ids":["https://openalex.org/I125904092"]},{"raw_affiliation_string":"University College Cork","institution_ids":["https://openalex.org/I27577105"]},{"raw_affiliation_string":"School of Artificial Intelligence, Shenyang Aerospace University, Shenyang, China","institution_ids":["https://openalex.org/I125904092"]},{"raw_affiliation_string":"School of Engineering and Architecture-Electrical and Electronic Engineering, University College Cork, Cork, Ireland","institution_ids":["https://openalex.org/I27577105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063109546","display_name":"Salih Abdelaziz","orcid":"https://orcid.org/0000-0002-5814-3018"},"institutions":[{"id":"https://openalex.org/I27577105","display_name":"University College Cork","ror":"https://ror.org/03265fv13","country_code":"IE","type":"education","lineage":["https://openalex.org/I27577105"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR","IE"],"is_corresponding":false,"raw_author_name":"Salih Abdelaziz","raw_affiliation_strings":["University College Cork","University of Montpellier","LIRMM, University of Montpellier, Montpellier, France","School of Engineering and Architecture-Electrical and Electronic Engineering, University College Cork, Cork, Ireland"],"affiliations":[{"raw_affiliation_string":"University College Cork","institution_ids":["https://openalex.org/I27577105"]},{"raw_affiliation_string":"University of Montpellier","institution_ids":["https://openalex.org/I19894307"]},{"raw_affiliation_string":"LIRMM, University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307"]},{"raw_affiliation_string":"School of Engineering and Architecture-Electrical and Electronic Engineering, University College Cork, Cork, Ireland","institution_ids":["https://openalex.org/I27577105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100447598","display_name":"Long Wang","orcid":"https://orcid.org/0000-0003-3476-6779"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Charles V. Schaefer, Jr. School of Engineering & Science, Stevens Institute of Technology, Hoboken, US"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Charles V. Schaefer, Jr. School of Engineering & Science, Stevens Institute of Technology, Hoboken, US","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064813063","display_name":"Guangbo Hao","orcid":"https://orcid.org/0000-0002-5930-5453"},"institutions":[{"id":"https://openalex.org/I27577105","display_name":"University College Cork","ror":"https://ror.org/03265fv13","country_code":"IE","type":"education","lineage":["https://openalex.org/I27577105"]}],"countries":["IE"],"is_corresponding":true,"raw_author_name":"Guangbo Hao","raw_affiliation_strings":["University College Cork","School of Engineering and Architecture-Electrical and Electronic Engineering, University College Cork, Cork, Ireland"],"affiliations":[{"raw_affiliation_string":"University College Cork","institution_ids":["https://openalex.org/I27577105"]},{"raw_affiliation_string":"School of Engineering and Architecture-Electrical and Electronic Engineering, University College Cork, Cork, Ireland","institution_ids":["https://openalex.org/I27577105"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064813063"],"corresponding_institution_ids":["https://openalex.org/I27577105"],"apc_list":null,"apc_paid":null,"fwci":2.0575,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.86601585,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"44","issue":"14","first_page":"2414","last_page":"2446"},"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":0.9894000291824341,"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":0.9754999876022339,"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/stiffness","display_name":"Stiffness","score":0.6690553426742554},{"id":"https://openalex.org/keywords/buckling","display_name":"Buckling","score":0.5622919797897339},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.5177130699157715},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.517242968082428},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46659067273139954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44391703605651855},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4166696071624756},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36659860610961914},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3231562376022339},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.31139683723449707},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.27797746658325195},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24255624413490295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1344488263130188},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08181938529014587}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6690553426742554},{"id":"https://openalex.org/C85476182","wikidata":"https://www.wikidata.org/wiki/Q693104","display_name":"Buckling","level":2,"score":0.5622919797897339},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.5177130699157715},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.517242968082428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46659067273139954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44391703605651855},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4166696071624756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36659860610961914},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3231562376022339},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.31139683723449707},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.27797746658325195},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24255624413490295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1344488263130188},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08181938529014587}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783649251344328","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649251344328","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:HAL:lirmm-05104616v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-05104616","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, 2025, ⟨10.1177/02783649251344328⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G868298492","display_name":null,"funder_award_id":"201806440050","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W1012674707","https://openalex.org/W1604997681","https://openalex.org/W1976270646","https://openalex.org/W1991723882","https://openalex.org/W2006573361","https://openalex.org/W2022162050","https://openalex.org/W2037025768","https://openalex.org/W2064267416","https://openalex.org/W2065784949","https://openalex.org/W2069438234","https://openalex.org/W2095804824","https://openalex.org/W2101667962","https://openalex.org/W2101797976","https://openalex.org/W2133231729","https://openalex.org/W2137529221","https://openalex.org/W2164713536","https://openalex.org/W2167480813","https://openalex.org/W2293554515","https://openalex.org/W2527057332","https://openalex.org/W2527408187","https://openalex.org/W2558828391","https://openalex.org/W2559753095","https://openalex.org/W2562152911","https://openalex.org/W2564941590","https://openalex.org/W2600027789","https://openalex.org/W2603097910","https://openalex.org/W2639522800","https://openalex.org/W2653772392","https://openalex.org/W2663063359","https://openalex.org/W2730494110","https://openalex.org/W2740405518","https://openalex.org/W2765594015","https://openalex.org/W2792288577","https://openalex.org/W2794348791","https://openalex.org/W2806185962","https://openalex.org/W2893591777","https://openalex.org/W2895232491","https://openalex.org/W2909729638","https://openalex.org/W2909846099","https://openalex.org/W2910992055","https://openalex.org/W2911852994","https://openalex.org/W2921049839","https://openalex.org/W2922147603","https://openalex.org/W2937885510","https://openalex.org/W2942096073","https://openalex.org/W2949141370","https://openalex.org/W2953537917","https://openalex.org/W2987061965","https://openalex.org/W3004193918","https://openalex.org/W3006361381","https://openalex.org/W3015718070","https://openalex.org/W3017043291","https://openalex.org/W3041583238","https://openalex.org/W3042329239","https://openalex.org/W3042873437","https://openalex.org/W3045935638","https://openalex.org/W3098457568","https://openalex.org/W3105176329","https://openalex.org/W3128491487","https://openalex.org/W3136506211","https://openalex.org/W3174582244","https://openalex.org/W3182331417","https://openalex.org/W3201880036","https://openalex.org/W4205276831","https://openalex.org/W4210645116","https://openalex.org/W4212901195","https://openalex.org/W4293182219","https://openalex.org/W4322730731","https://openalex.org/W4403153969"],"related_works":["https://openalex.org/W2941013975","https://openalex.org/W3034644892","https://openalex.org/W194827383","https://openalex.org/W2004808456","https://openalex.org/W1994943997","https://openalex.org/W3007022539","https://openalex.org/W2078057276","https://openalex.org/W4280578443","https://openalex.org/W2356824774","https://openalex.org/W2023487169"],"abstract_inverted_index":{"Cable-driven":[0],"compliant":[1,80],"continuum":[2],"robots":[3],"(CCRs)":[4],"can":[5,127,203,223,237],"reach":[6],"target":[7],"areas":[8],"in":[9],"constrained":[10],"spaces":[11],"due":[12],"to":[13,25,66,253],"their":[14,41],"elastic":[15],"bodies":[16],"being":[17],"controlled":[18],"remotely.":[19],"They":[20],"have":[21,193,213],"been":[22],"widely":[23],"employed":[24],"inspect,":[26],"maintain,":[27],"or":[28],"repair":[29],"industrial":[30],"machines":[31],"such":[32],"as":[33],"gas":[34],"turbine":[35],"engines":[36],"and":[37,51,94,99,117,138,157,189,207,210,227],"oil":[38],"pipes.":[39],"However,":[40],"performances":[42],"are":[43,97,141,250],"usually":[44,54],"limited":[45],"by":[46,71,79,205,225,241],"the":[47,52,57,68,91,119,125,135,149,164,168,177,181,187,235,255,259,261,264,268],"low":[48],"tip":[49,74,115,158,165,197,217,239],"stiffness":[50,53,75,166,198,218,240,270],"decreases":[55],"with":[56],"increase":[58,204,224,238],"of":[59,90,121,134,167,176,258,263],"cable":[60,110,113,243],"pulling":[61],"forces.":[62],"This":[63],"paper":[64],"aims":[65],"address":[67],"above":[69],"problems":[70],"presenting":[72],"a":[73,194,214],"improved":[76],"CCR":[77,93,96,151,179],"formed":[78],"anti-buckling":[81],"universal":[82],"joints":[83],"(ACCR).":[84],"The":[85,131,160],"normalized":[86],"nonlinear":[87,104],"spatial":[88,220],"models":[89],"one-segment":[92,136,188],"three-segment":[95,139,190],"proposed":[98],"comprehensively":[100],"verified":[101],"using":[102],"commercial":[103],"finite":[105],"element":[106],"analysis":[107],"software.":[108],"Given":[109],"forces,":[111],"prescribed":[112],"displacements,":[114],"loads,":[116],"gravity,":[118],"motion":[120],"any":[122],"points":[123],"on":[124],"CCRs":[126,137,140],"be":[128],"analytically":[129],"obtained.":[130],"performance":[132],"characteristics":[133],"extensively":[142],"studied":[143],"under":[144,180,199,219],"different":[145],"loading":[146,183],"conditions,":[147],"including":[148],"maximum":[150],"deformation,":[152],"tip-location":[153],"accuracy,":[154],"shape":[155],"dexterity,":[156],"stiffness.":[159],"results":[161],"show":[162],"that":[163,175,234],"ACCR":[169],"is":[170,231],"always":[171],"much":[172],"higher":[173],"than":[174],"counterpart":[178],"same":[182],"conditions.":[184],"For":[185],"example,":[186],"ACCRs":[191,236],"both":[192,212],"high":[195,215],"in-plane":[196,200],"actuation,":[201,221],"which":[202,222],"49.0%":[206],"31.3%,":[208],"respectively;":[209],"they":[211],"transverse":[216],"48.9%":[226],"31.2%,":[228],"respectively.":[229],"It":[230],"also":[232],"confirmed":[233],"increasing":[242],"actuation.":[244],"Several":[245],"preliminary":[246],"planar":[247],"experimental":[248],"tests":[249],"carried":[251],"out":[252],"validate":[254],"fabrication":[256],"feasibility":[257],"prototype,":[260],"accuracy":[262],"analytical":[265],"model,":[266],"and/or":[267],"above-mentioned":[269],"improvement.":[271]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}