{"id":"https://openalex.org/W4295926546","doi":"https://doi.org/10.3390/robotics11050097","title":"Modelling and Analysis of the Spital Branched Flexure-Hinge Adjustable-Stiffness Continuum Robot","display_name":"Modelling and Analysis of the Spital Branched Flexure-Hinge Adjustable-Stiffness Continuum Robot","publication_year":2022,"publication_date":"2022-09-14","ids":{"openalex":"https://openalex.org/W4295926546","doi":"https://doi.org/10.3390/robotics11050097"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11050097","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050097","pdf_url":"https://www.mdpi.com/2218-6581/11/5/97/pdf?version=1663555120","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/5/97/pdf?version=1663555120","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038779888","display_name":"Nan Ma","orcid":"https://orcid.org/0000-0003-0261-5212"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nan Ma","raw_affiliation_strings":["Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0003-0261-5212","affiliations":[{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037791572","display_name":"Stephen Monk","orcid":"https://orcid.org/0000-0003-1782-0737"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stephen Monk","raw_affiliation_strings":["Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0003-1782-0737","affiliations":[{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000898945","display_name":"David Cheneler","orcid":"https://orcid.org/0000-0003-1353-0329"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"David Cheneler","raw_affiliation_strings":["Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK"],"raw_orcid":"https://orcid.org/0000-0003-1353-0329","affiliations":[{"raw_affiliation_string":"Department of Engineering, Lancaster University, Lancaster LA1 4YW, UK","institution_ids":["https://openalex.org/I67415387"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000898945"],"corresponding_institution_ids":["https://openalex.org/I67415387"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.7358,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.65754426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":"5","first_page":"97","last_page":"97"},"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":0.9764000177383423,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9632999897003174,"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/workspace","display_name":"Workspace","score":0.793653130531311},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7839971780776978},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7473839521408081},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.6941366195678711},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6698914170265198},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5358347296714783},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48523736000061035},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4650019407272339},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4383261203765869},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.42634958028793335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38719579577445984},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3286828398704529},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3264339566230774},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1843726634979248},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1804419457912445},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15324744582176208}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.793653130531311},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7839971780776978},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7473839521408081},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.6941366195678711},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6698914170265198},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5358347296714783},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48523736000061035},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4650019407272339},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4383261203765869},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.42634958028793335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38719579577445984},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3286828398704529},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3264339566230774},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1843726634979248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1804419457912445},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15324744582176208},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics11050097","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050097","pdf_url":"https://www.mdpi.com/2218-6581/11/5/97/pdf?version=1663555120","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:eprints.lancs.ac.uk:175937","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:doaj.org/article:c222378a038742e09b1f39e7364d69a5","is_oa":true,"landing_page_url":"https://doaj.org/article/c222378a038742e09b1f39e7364d69a5","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 5, p 97 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/5/97/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11050097","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 11; Issue 5; Pages: 97","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11050097","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11050097","pdf_url":"https://www.mdpi.com/2218-6581/11/5/97/pdf?version=1663555120","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3561307471","display_name":null,"funder_award_id":"EP/V027379/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6916586541","display_name":"ASUNDER - Adaptable Semiautonomous Underwater Decommissioning Sample Retrieval Robot","funder_award_id":"EP/V027379/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4295926546.pdf","grobid_xml":"https://content.openalex.org/works/W4295926546.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1210995690","https://openalex.org/W1975156392","https://openalex.org/W1985568314","https://openalex.org/W2014576275","https://openalex.org/W2025613329","https://openalex.org/W2063374540","https://openalex.org/W2064267416","https://openalex.org/W2080103827","https://openalex.org/W2095462685","https://openalex.org/W2110708319","https://openalex.org/W2113067290","https://openalex.org/W2133231729","https://openalex.org/W2168395540","https://openalex.org/W2559753095","https://openalex.org/W2611056603","https://openalex.org/W2737491236","https://openalex.org/W2746200739","https://openalex.org/W2783157022","https://openalex.org/W2885174778","https://openalex.org/W2887202718","https://openalex.org/W2896056663","https://openalex.org/W2909509999","https://openalex.org/W2909729638","https://openalex.org/W2947796589","https://openalex.org/W3007768916","https://openalex.org/W3114729017","https://openalex.org/W3137229025","https://openalex.org/W3178098224","https://openalex.org/W4205276831","https://openalex.org/W4220653066","https://openalex.org/W6674392669"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W2608166581","https://openalex.org/W1964490400","https://openalex.org/W2048558497","https://openalex.org/W1968518598","https://openalex.org/W229301543"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,36,149,192],"are":[2,116],"increasingly":[3],"being":[4],"used":[5],"in":[6],"industrial":[7],"and":[8,23,75,87,125,146,171,176],"medical":[9],"applications":[10],"due":[11,44],"to":[12,26,45,71,81,150],"their":[13,24],"high":[14,85],"number":[15],"of":[16,18,33,49,94,98,121,144,169,189,199],"degrees":[17],"freedom":[19],"(DoF),":[20],"large":[21,88],"workspace":[22],"ability":[25],"operate":[27],"dexterously.":[28],"However,":[29],"the":[30,46,50,68,92,95,99,111,119,122,126,131,135,152,158,174,186,190,203],"positional":[31],"accuracy":[32,86,188],"conventional":[34],"continuum":[35,69,102,148,178,191],"with":[37,64,84],"a":[38,104,197],"backbone":[39],"structure":[40],"is":[41],"usually":[42],"low":[43,47],"stiffness":[48,66,74,101,205],"often-lengthy":[51],"driving":[52],"cables/tendons.":[53],"Here,":[54],"this":[55],"problem":[56],"has":[57],"been":[58],"solved":[59],"by":[60,109,118,130,196,201],"integrating":[61],"additional":[62],"mechanisms":[63],"adjustable":[65,100,204],"within":[67,165],"robot":[70],"improve":[72],"its":[73],"mechanical":[76],"performance,":[77],"thus":[78],"enabling":[79],"it":[80],"be":[82,194],"operated":[83],"payloads.":[89],"To":[90],"support":[91],"prediction":[93],"improved":[96,195],"performance":[97],"robot,":[103],"kinetostatic":[105,160],"model":[106,161],"was":[107,155,182],"developed":[108],"considering":[110],"generalized":[112],"internal":[113],"loads":[114,133],"that":[115,157,185],"caused":[117,129],"deformation":[120],"flexure-hinge":[123],"mechanism":[124],"structural":[127],"stiffening":[128],"external":[132],"on":[134,141],"end-effector.":[136],"Finally,":[137],"experiments":[138],"were":[139],"conducted":[140],"physical":[142],"prototypes":[143],"2-DoF":[145,175],"6-DoF":[147,177],"validate":[151],"model.":[153],"It":[154,181],"found":[156,184],"proposed":[159],"validates":[162],"experimental":[163],"observations":[164],"an":[166],"average":[167],"deviation":[168],"9.1%":[170],"6.2%":[172],"for":[173],"robots,":[179],"respectively.":[180],"also":[183],"kinematic":[187],"can":[193],"factor":[198],"32.8":[200],"adding":[202],"mechanisms.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}