{"id":"https://openalex.org/W4384500374","doi":"https://doi.org/10.3389/frobt.2023.1210217","title":"Performance enhancement of the soft robotic segment for a trunk-like arm","display_name":"Performance enhancement of the soft robotic segment for a trunk-like arm","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4384500374","doi":"https://doi.org/10.3389/frobt.2023.1210217","pmid":"https://pubmed.ncbi.nlm.nih.gov/37547621"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1210217","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1210217","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1210217/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1210217/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089577375","display_name":"Shaowu Tang","orcid":"https://orcid.org/0009-0007-7563-6862"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaowu Tang","raw_affiliation_strings":["Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009767915","display_name":"Kailuan Tang","orcid":"https://orcid.org/0000-0002-4512-2576"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kailuan Tang","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084648447","display_name":"Shijian Wu","orcid":"https://orcid.org/0009-0006-6831-4497"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijian Wu","raw_affiliation_strings":["The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000290913","display_name":"Yin Xiao","orcid":"https://orcid.org/0009-0009-0674-387X"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yin Xiao","raw_affiliation_strings":["The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684824","display_name":"Sicong Liu","orcid":"https://orcid.org/0000-0002-1872-5283"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicong Liu","raw_affiliation_strings":["The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059499726","display_name":"Juan Yi","orcid":"https://orcid.org/0000-0002-5992-4254"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Juan Yi","raw_affiliation_strings":["Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5045214230","https://openalex.org/A5059499726"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.147,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.75488328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"1210217","last_page":"1210217"},"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":0.9968000054359436,"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":0.9779000282287598,"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/computer-science","display_name":"Computer science","score":0.7432118654251099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5809581279754639},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5644670724868774},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.5190937519073486},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4934348165988922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2872511148452759},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08230942487716675}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7432118654251099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5809581279754639},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5644670724868774},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.5190937519073486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4934348165988922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2872511148452759},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08230942487716675},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1210217","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1210217","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1210217/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:37547621","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37547621","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10402897","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10402897","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10402897/pdf/frobt-10-1210217.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:2a17e5f67f9e4c5b9d7f69425232db1f","is_oa":true,"landing_page_url":"https://doaj.org/article/2a17e5f67f9e4c5b9d7f69425232db1f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1210217","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1210217","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1210217/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1879303994","display_name":null,"funder_award_id":"51975268","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5527454098","display_name":null,"funder_award_id":"2021A1515110658","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G587981738","display_name":null,"funder_award_id":"52105021","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4384500374.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1902605501","https://openalex.org/W1980905653","https://openalex.org/W1991723882","https://openalex.org/W2004103740","https://openalex.org/W2027192530","https://openalex.org/W2048267518","https://openalex.org/W2054628872","https://openalex.org/W2063797945","https://openalex.org/W2066880342","https://openalex.org/W2079574144","https://openalex.org/W2139730867","https://openalex.org/W2147492425","https://openalex.org/W2149165496","https://openalex.org/W2531880856","https://openalex.org/W2560730116","https://openalex.org/W2566467848","https://openalex.org/W2766646977","https://openalex.org/W2817949609","https://openalex.org/W2894852016","https://openalex.org/W2895204702","https://openalex.org/W2898364539","https://openalex.org/W2946945134","https://openalex.org/W2961959216","https://openalex.org/W2963352555","https://openalex.org/W2965314575","https://openalex.org/W2973142204","https://openalex.org/W3008027823","https://openalex.org/W3008564376","https://openalex.org/W3008620731","https://openalex.org/W3010489783","https://openalex.org/W3015155535","https://openalex.org/W3107758180","https://openalex.org/W3128180318","https://openalex.org/W3133715594","https://openalex.org/W3141292147","https://openalex.org/W3198532761","https://openalex.org/W3200426615","https://openalex.org/W3215522260","https://openalex.org/W4213458743","https://openalex.org/W4243070155","https://openalex.org/W4281491558","https://openalex.org/W4281780539","https://openalex.org/W4365800129","https://openalex.org/W6647989735","https://openalex.org/W6653885175"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Trunk-like":[0],"continuum":[1,33],"robots":[2],"have":[3],"wide":[4],"applications":[5],"in":[6,39,96,115,137,166,238],"manipulation":[7],"and":[8,18,34,41,70,87,106,125,134,142,189,221,234],"locomotion.":[9],"In":[10,46],"particular,":[11],"trunk-like":[12,163,230],"soft":[13,35,79,154,164,231],"arms":[14],"exhibit":[15],"high":[16,236],"dexterity":[17,191],"adaptability":[19],"very":[20],"similar":[21],"to":[22,31,78,184,206,225],"the":[23,26,32,51,82,101,122,129,138,151,159,174,187,193,209,215],"creatures":[24],"of":[25,53,84,90,121,128,153,162,181,186,192,202,208,214],"natural":[27],"world.":[28],"However,":[29],"owing":[30],"bodies,":[36],"their":[37],"performance":[38,237],"payload":[40,143],"spatial":[42],"movements":[43],"is":[44,61,223],"limited.":[45],"this":[47,168],"paper,":[48],"we":[49],"investigate":[50],"influence":[52],"key":[54],"design":[55,160,216,233],"parameters":[56],"on":[57],"robotic":[58,232,239],"performance.":[59],"It":[60],"verified":[62],"that":[63,185,207],"a":[64,93,107,197],"larger":[65,199],"workspace,":[66],"lateral":[67,102,140],"stiffness,":[68],"payload,":[69],"bending":[71,108,130,200],"moment":[72,109],"could":[73,146],"be":[74,147],"achieved":[75],"with":[76],"adjustments":[77],"materials'":[80],"hardness,":[81],"height":[83,117],"module":[85],"segments,":[86],"arrayed":[88,97],"radius":[89,98],"actuators.":[91],"Especially,":[92],"55%":[94],"increase":[95,114],"would":[99,118],"enhance":[100],"stiffness":[103,141],"by":[104,110,149],"25%":[105],"55%.":[111],"An":[112],"80%":[113],"segment":[116],"enlarge":[119],"112%":[120],"elongation":[123],"range":[124,201],"70":[126],"%":[127],"range.":[131],"Around":[132],"200%":[133],"150%":[135],"increments":[136],"segment's":[139],"forces,":[144],"respectively,":[145],"obtained":[148],"tuning":[150],"hardness":[152],"materials.":[155],"These":[156],"relations":[157],"enable":[158,235],"customization":[161],"arms,":[165],"which":[167],"tapering":[169],"structure":[170],"ensures":[171,190],"stability":[172],"via":[173],"stocky":[175],"base":[176],"for":[177,196,229],"an":[178],"impact":[179],"reduction":[180],"50%":[182],"compared":[183,205],"tip":[188,195],"long":[194],"relatively":[198],"over":[203],"400%":[204],"base.":[210],"The":[211],"complete":[212],"methodology":[213],"concept,":[217],"analytical":[218],"models,":[219],"simulation,":[220],"experiments":[222],"developed":[224],"offer":[226],"comprehensive":[227],"guidelines":[228],"manipulation.":[240]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-24T08:33:08.758527","created_date":"2025-10-10T00:00:00"}