{"id":"https://openalex.org/W4386601228","doi":"https://doi.org/10.3390/robotics12050128","title":"Tendon-Driven Variable-Stiffness Pneumatic Soft Gripper Robot","display_name":"Tendon-Driven Variable-Stiffness Pneumatic Soft Gripper Robot","publication_year":2023,"publication_date":"2023-09-11","ids":{"openalex":"https://openalex.org/W4386601228","doi":"https://doi.org/10.3390/robotics12050128"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12050128","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050128","pdf_url":"https://www.mdpi.com/2218-6581/12/5/128/pdf?version=1694426500","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/2218-6581/12/5/128/pdf?version=1694426500","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092583934","display_name":"Safeh Clinton Mawah","orcid":"https://orcid.org/0009-0003-8632-6633"},"institutions":[{"id":"https://openalex.org/I165507594","display_name":"Kangwon National University","ror":"https://ror.org/01mh5ph17","country_code":"KR","type":"education","lineage":["https://openalex.org/I165507594"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Safeh Clinton Mawah","raw_affiliation_strings":["Department of Mechatronics Engineering, Kangwon National University, Chuncheon 24341, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0003-8632-6633","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Kangwon National University, Chuncheon 24341, Republic of Korea","institution_ids":["https://openalex.org/I165507594"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001227321","display_name":"Yong-Jai Park","orcid":"https://orcid.org/0000-0002-8830-3270"},"institutions":[{"id":"https://openalex.org/I165507594","display_name":"Kangwon National University","ror":"https://ror.org/01mh5ph17","country_code":"KR","type":"education","lineage":["https://openalex.org/I165507594"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yong-Jai Park","raw_affiliation_strings":["Department of Mechatronics Engineering, Kangwon National University, Chuncheon 24341, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-8830-3270","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Kangwon National University, Chuncheon 24341, Republic of Korea","institution_ids":["https://openalex.org/I165507594"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001227321"],"corresponding_institution_ids":["https://openalex.org/I165507594"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.1803,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.76365835,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"12","issue":"5","first_page":"128","last_page":"128"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9871000051498413,"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":0.9858999848365784,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7970882654190063},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7680497169494629},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6216543912887573},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6150954961776733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5824346542358398},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5385376811027527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.49167710542678833},{"id":"https://openalex.org/keywords/pneumatic-flow-control","display_name":"Pneumatic flow control","score":0.47865092754364014},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.47714611887931824},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.45285820960998535},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.43198031187057495},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42919501662254333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4030234217643738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33792176842689514},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32997405529022217},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32975059747695923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24191099405288696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12255802750587463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1169251799583435}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7970882654190063},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7680497169494629},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6216543912887573},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6150954961776733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5824346542358398},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5385376811027527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49167710542678833},{"id":"https://openalex.org/C103578843","wikidata":"https://www.wikidata.org/wiki/Q1816388","display_name":"Pneumatic flow control","level":2,"score":0.47865092754364014},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.47714611887931824},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.45285820960998535},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.43198031187057495},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42919501662254333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4030234217643738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33792176842689514},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32997405529022217},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32975059747695923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24191099405288696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12255802750587463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1169251799583435},{"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/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics12050128","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050128","pdf_url":"https://www.mdpi.com/2218-6581/12/5/128/pdf?version=1694426500","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:doaj.org/article:4824fe4aa8ab47cfa9a9e663922970b9","is_oa":true,"landing_page_url":"https://doaj.org/article/4824fe4aa8ab47cfa9a9e663922970b9","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 12, Iss 5, p 128 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics12050128","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050128","pdf_url":"https://www.mdpi.com/2218-6581/12/5/128/pdf?version=1694426500","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":[{"id":"https://metadata.un.org/sdg/7","score":0.46000000834465027,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1030206821","display_name":null,"funder_award_id":"2020R1I1A3073575","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G3046370751","display_name":null,"funder_award_id":"20018270","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G704205232","display_name":null,"funder_award_id":"20018270","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G8795486926","display_name":null,"funder_award_id":"2020R1I1A3073575","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386601228.pdf"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1969451263","https://openalex.org/W2025613329","https://openalex.org/W2054628872","https://openalex.org/W2079574144","https://openalex.org/W2096298061","https://openalex.org/W2169410184","https://openalex.org/W2591614560","https://openalex.org/W2904532819","https://openalex.org/W3088178911","https://openalex.org/W4244367163","https://openalex.org/W4285263620","https://openalex.org/W4285987896","https://openalex.org/W4290964276","https://openalex.org/W4294691680","https://openalex.org/W6757063897","https://openalex.org/W6783974492"],"related_works":["https://openalex.org/W2809633875","https://openalex.org/W4402575579","https://openalex.org/W297300187","https://openalex.org/W4200033498","https://openalex.org/W4385236726","https://openalex.org/W3095748503","https://openalex.org/W2291990610","https://openalex.org/W3005638187","https://openalex.org/W2989641551","https://openalex.org/W3157594975"],"abstract_inverted_index":{"In":[0],"recent":[1],"times,":[2],"the":[3,88,119,126,140,144,167,177,185,191,205],"soft":[4,57,76,93,112],"robotics":[5],"field":[6],"has":[7],"been":[8],"attracting":[9],"significant":[10],"research":[11],"focus":[12],"owing":[13],"to":[14,36,52,98,199,215],"its":[15,201],"high":[16],"level":[17],"of":[18,43,86,90,105,213],"manipulation":[19],"capabilities":[20],"unlike":[21],"traditional":[22,37],"rigid":[23,38],"robots,":[24,40],"which":[25,138,161,179],"gives":[26],"room":[27],"for":[28,122,129,170],"increasing":[29],"use":[30],"in":[31,102],"other":[32],"areas.":[33],"However,":[34],"compared":[35],"gripper":[39,58,77,113,206],"being":[41,84],"capable":[42,85],"controlling/obtaining":[44],"overall":[45,145],"body":[46],"stiffness":[47,89,130,171,193],"when":[48],"required":[49],"is":[50],"yet":[51],"be":[53,196],"further":[54],"explored":[55],"since":[56],"robots":[59],"have":[60,99],"inherently":[61],"less-rigid":[62],"properties.":[63],"Unlike":[64],"previous":[65],"designs":[66],"with":[67,79,166],"very":[68],"complex":[69],"variable-stiffness":[70],"systems,":[71],"this":[72],"paper":[73],"demonstrates":[74],"a":[75,91,211],"design":[78],"minimum":[80],"system":[81],"complexity":[82],"while":[83],"varying":[87],"continuum":[92],"robotic":[94],"actuator":[95,114,178,192],"and":[96,109,125,153,182,204,209],"proves":[97],"potential":[100],"applications":[101],"gripping":[103],"objects":[104],"various":[106],"shapes,":[107],"weights,":[108],"sizes.":[110],"The":[111,147],"comprises":[115],"two":[116],"separate":[117],"mechanisms:":[118],"pneumatic":[120,148],"mechanism":[121,149],"bending":[123,181],"control":[124],"mechanical":[127,168],"structure":[128,169],"variation":[131],"by":[132],"pulling":[133,184],"tendons":[134],"using":[135],"stepper":[136],"motors":[137],"compresses":[139],"actuator,":[141],"thereby":[142],"changing":[143],"stiffness.":[146],"was":[150,163],"first":[151,174],"fabricated":[152],"then":[154,183],"embedded":[155],"into":[156],"another":[157],"silicon":[158],"layer":[159],"during":[160],"it":[162],"also":[164],"merged":[165],"control.":[172],"By":[173],"pneumatically":[175],"actuating":[176],"causes":[180],"tendons,":[186],"we":[187],"found":[188],"out":[189],"that":[190],"value":[194],"can":[195,207],"increased":[197],"up":[198,214],"145%":[200],"initial":[202],"value,":[203],"grasp":[208],"lift":[210],"weight":[212],"2.075":[216],"kg.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}