{"id":"https://openalex.org/W4389237701","doi":"https://doi.org/10.3390/robotics12060164","title":"Length Modelling of Spiral Superficial Soft Strain Sensors Using Geodesics and Covering Spaces","display_name":"Length Modelling of Spiral Superficial Soft Strain Sensors Using Geodesics and Covering Spaces","publication_year":2023,"publication_date":"2023-12-01","ids":{"openalex":"https://openalex.org/W4389237701","doi":"https://doi.org/10.3390/robotics12060164"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12060164","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060164","pdf_url":"https://www.mdpi.com/2218-6581/12/6/164/pdf?version=1701416314","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/2218-6581/12/6/164/pdf?version=1701416314","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061647347","display_name":"Abdullah Al-Azzawi","orcid":"https://orcid.org/0000-0003-4319-1284"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Abdullah Al-Azzawi","raw_affiliation_strings":["Australian Centre for Field Robotics (ACFR), The University of Sydney, Sydney, NSW 2006, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4319-1284","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics (ACFR), The University of Sydney, Sydney, NSW 2006, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042146550","display_name":"Peter Stadler","orcid":"https://orcid.org/0000-0001-5672-8971"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Stadler","raw_affiliation_strings":["e:fs Techhub GmbH, 85080 Gaimersheim, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5672-8971","affiliations":[{"raw_affiliation_string":"e:fs Techhub GmbH, 85080 Gaimersheim, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032411105","display_name":"He Kong","orcid":"https://orcid.org/0000-0002-1382-4186"},"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":"He Kong","raw_affiliation_strings":["Shenzhen Key Laboratory of Control Theory and Intelligent Systems, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China"],"raw_orcid":"https://orcid.org/0000-0002-1382-4186","affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Control Theory and Intelligent Systems, and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Salah Sukkarieh","raw_affiliation_strings":["Australian Centre for Field Robotics (ACFR), The University of Sydney, Sydney, NSW 2006, Australia"],"raw_orcid":"https://orcid.org/0000-0003-1173-9268","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics (ACFR), The University of Sydney, Sydney, NSW 2006, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061647347"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.1073,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42580683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"12","issue":"6","first_page":"164","last_page":"164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9915000200271606,"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/constant-curvature","display_name":"Constant curvature","score":0.6981861591339111},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6652576923370361},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6291958093643188},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.6098245978355408},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6078620553016663},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.581734299659729},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5459443926811218},{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.5366911292076111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47933515906333923},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4671095609664917},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.41771912574768066},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4177030920982361},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39974895119667053},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3311271369457245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30537256598472595},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27506566047668457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27422797679901123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22915780544281006},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22581413388252258},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22052797675132751},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1958165168762207},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1817893087863922},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13803577423095703}],"concepts":[{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.6981861591339111},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6652576923370361},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6291958093643188},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.6098245978355408},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6078620553016663},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.581734299659729},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5459443926811218},{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.5366911292076111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47933515906333923},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4671095609664917},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.41771912574768066},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4177030920982361},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39974895119667053},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3311271369457245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30537256598472595},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27506566047668457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27422797679901123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22915780544281006},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22581413388252258},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22052797675132751},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1958165168762207},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1817893087863922},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13803577423095703},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics12060164","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060164","pdf_url":"https://www.mdpi.com/2218-6581/12/6/164/pdf?version=1701416314","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:2c9307aed78a4197b517068d225f6b3f","is_oa":true,"landing_page_url":"https://doaj.org/article/2c9307aed78a4197b517068d225f6b3f","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 6, p 164 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics12060164","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060164","pdf_url":"https://www.mdpi.com/2218-6581/12/6/164/pdf?version=1701416314","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":0.5899999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320966","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12"},{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389237701.pdf","grobid_xml":"https://content.openalex.org/works/W4389237701.grobid-xml"},"referenced_works_count":75,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1567167040","https://openalex.org/W1750689792","https://openalex.org/W1967870888","https://openalex.org/W1988874269","https://openalex.org/W2015106839","https://openalex.org/W2034957365","https://openalex.org/W2044487258","https://openalex.org/W2053614949","https://openalex.org/W2054427316","https://openalex.org/W2070184318","https://openalex.org/W2101667962","https://openalex.org/W2114892491","https://openalex.org/W2118177844","https://openalex.org/W2129242603","https://openalex.org/W2165479823","https://openalex.org/W2295179809","https://openalex.org/W2295380675","https://openalex.org/W2418282907","https://openalex.org/W2514131711","https://openalex.org/W2519427229","https://openalex.org/W2524719417","https://openalex.org/W2561609334","https://openalex.org/W2618733545","https://openalex.org/W2716445324","https://openalex.org/W2736652053","https://openalex.org/W2742577535","https://openalex.org/W2743879850","https://openalex.org/W2750248357","https://openalex.org/W2753162957","https://openalex.org/W2783420965","https://openalex.org/W2802271488","https://openalex.org/W2804537022","https://openalex.org/W2870735678","https://openalex.org/W2883279767","https://openalex.org/W2889365617","https://openalex.org/W2889529934","https://openalex.org/W2895997904","https://openalex.org/W2899844036","https://openalex.org/W2909509999","https://openalex.org/W2911001812","https://openalex.org/W2928753276","https://openalex.org/W2929897791","https://openalex.org/W2940726020","https://openalex.org/W2955872249","https://openalex.org/W2956081327","https://openalex.org/W2965142505","https://openalex.org/W2966645013","https://openalex.org/W2980980233","https://openalex.org/W2997289456","https://openalex.org/W2999072533","https://openalex.org/W3002768791","https://openalex.org/W3003871496","https://openalex.org/W3005472751","https://openalex.org/W3008109267","https://openalex.org/W3009374984","https://openalex.org/W3015303069","https://openalex.org/W3023253965","https://openalex.org/W3036184859","https://openalex.org/W3041156204","https://openalex.org/W3097531163","https://openalex.org/W3108198586","https://openalex.org/W3127848197","https://openalex.org/W3138075616","https://openalex.org/W3140438675","https://openalex.org/W3165472471","https://openalex.org/W3174808055","https://openalex.org/W3200067310","https://openalex.org/W4299571672","https://openalex.org/W4313125180","https://openalex.org/W4313639260","https://openalex.org/W4323363045","https://openalex.org/W4399469378","https://openalex.org/W6676900640","https://openalex.org/W6981859222"],"related_works":["https://openalex.org/W1978591761","https://openalex.org/W2941285539","https://openalex.org/W4287661821","https://openalex.org/W1579299075","https://openalex.org/W1575981832","https://openalex.org/W3089249579","https://openalex.org/W1973901587","https://openalex.org/W2595699648","https://openalex.org/W4313484206","https://openalex.org/W2606699054"],"abstract_inverted_index":{"Piecewise":[0,126],"constant":[1,127],"curvature":[2,128],"soft":[3,47,63],"actuators":[4,12,70,129],"can":[5,13],"generate":[6],"various":[7],"types":[8],"of":[9,22,57,61,89,137,192],"movements.":[10,77],"These":[11],"undergo":[14],"extension,":[15,73],"bending,":[16,74],"rotation,":[17],"twist,":[18],"or":[19,33],"a":[20,113,157],"combination":[21],"these.":[23],"Proprioceptive":[24],"sensing":[25,42],"provides":[26],"the":[27,59,62,98,125,135,141,150,154,170,176,187,198],"ability":[28],"to":[29,69,72,83,111,124,156],"track":[30],"their":[31,35],"movement":[32],"estimate":[34],"state":[36],"in":[37,106],"3D":[38],"space.":[39],"Several":[40],"proprioceptive":[41],"solutions":[43],"were":[44],"developed":[45],"using":[46,195],"strain":[48],"sensors.":[49,92],"However,":[50],"current":[51],"mathematical":[52,114],"models":[53,80],"are":[54,67,81],"only":[55],"capable":[56],"modelling":[58,84,90],"length":[60,115],"sensors":[64,86],"when":[65,143],"they":[66],"attached":[68],"subjected":[71],"and":[75,87,100,108,130,140,145,189],"rotation":[76],"Furthermore,":[78],"these":[79],"limited":[82,123],"straight":[85,101],"incapable":[88],"spiral":[91,99],"In":[93],"this":[94],"study,":[95],"for":[96,169],"both":[97],"sensors,":[102],"we":[103,174,185],"utilise":[104],"concepts":[105],"geodesics":[107],"covering":[109],"spaces":[110],"present":[112],"model":[116,139,151,194],"that":[117],"includes":[118],"twist.":[119,147],"This":[120,161],"study":[121],"is":[122],"demonstrates,":[131],"among":[132],"other":[133],"things,":[134],"advantages":[136],"our":[138,193],"accuracy":[142],"including":[144],"excluding":[146],"We":[148],"verify":[149],"by":[152],"comparing":[153],"results":[155,178],"finite":[158],"element":[159],"analysis.":[160],"analysis":[162],"involves":[163],"multiple":[164],"simulation":[165],"scenarios":[166],"designed":[167],"specifically":[168],"verification":[171],"process.":[172],"Finally,":[173],"validate":[175],"theoretical":[177],"with":[179],"previously":[180],"published":[181],"experimental":[182],"results.":[183],"Then,":[184],"discuss":[186],"limitations":[188],"possible":[190],"applications":[191],"examples":[196],"from":[197],"literature.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}