{"id":"https://openalex.org/W4398766396","doi":"https://doi.org/10.3390/s24113385","title":"Shape Sensing and Kinematic Control of a Cable-Driven Continuum Robot Based on Stretchable Capacitive Sensors","display_name":"Shape Sensing and Kinematic Control of a Cable-Driven Continuum Robot Based on Stretchable Capacitive Sensors","publication_year":2024,"publication_date":"2024-05-24","ids":{"openalex":"https://openalex.org/W4398766396","doi":"https://doi.org/10.3390/s24113385","pmid":"https://pubmed.ncbi.nlm.nih.gov/38894174"},"language":"en","primary_location":{"id":"doi:10.3390/s24113385","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24113385","pdf_url":"https://www.mdpi.com/1424-8220/24/11/3385/pdf?version=1716555314","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/11/3385/pdf?version=1716555314","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050996840","display_name":"Wen\u2010Jun Shen","orcid":"https://orcid.org/0000-0001-5150-1698"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Shen","raw_affiliation_strings":["College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111908179","display_name":"Jianhui He","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhui He","raw_affiliation_strings":["College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018655903","display_name":"Guilin Yang","orcid":"https://orcid.org/0000-0001-6144-3401"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guilin Yang","raw_affiliation_strings":["College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":"https://orcid.org/0000-0001-6144-3401","affiliations":[{"raw_affiliation_string":"College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030323127","display_name":"Xiangjie Kong","orcid":"https://orcid.org/0000-0003-2698-3319"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangjie Kong","raw_affiliation_strings":["College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010598967","display_name":"Haotian Bai","orcid":"https://orcid.org/0000-0001-8012-8036"},"institutions":[{"id":"https://openalex.org/I13591777","display_name":"University of Nottingham Ningbo China","ror":"https://ror.org/03y4dt428","country_code":"CN","type":"education","lineage":["https://openalex.org/I13591777","https://openalex.org/I142263535"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haotian Bai","raw_affiliation_strings":["College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, School of Computer Science, University of Nottingham, Ningbo 315199, China","Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, School of Computer Science, University of Nottingham, Ningbo 315199, China","institution_ids":["https://openalex.org/I13591777"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015630609","display_name":"Zaojun Fang","orcid":"https://orcid.org/0000-0003-4025-039X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaojun Fang","raw_affiliation_strings":["College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Materials Science and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China","institution_ids":["https://openalex.org/I4210165339","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018655903"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210165038","https://openalex.org/I4210165339"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.9097,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70190974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"24","issue":"11","first_page":"3385","last_page":"3385"},"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/T14011","display_name":"Elevator Systems and Control","score":0.996399998664856,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944999814033508,"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/capacitive-sensing","display_name":"Capacitive sensing","score":0.8616687059402466},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6904788017272949},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5602791905403137},{"id":"https://openalex.org/keywords/stretchable-electronics","display_name":"Stretchable electronics","score":0.5364782214164734},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4194071292877197},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38799306750297546},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3770580291748047},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3583519756793976},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.34223848581314087},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.32396799325942993},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25049787759780884},{"id":"https://openalex.org/keywords/electronics","display_name":"Electronics","score":0.20897755026817322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16964823007583618},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0803840160369873}],"concepts":[{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.8616687059402466},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6904788017272949},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5602791905403137},{"id":"https://openalex.org/C2781196758","wikidata":"https://www.wikidata.org/wiki/Q7623486","display_name":"Stretchable electronics","level":3,"score":0.5364782214164734},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4194071292877197},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38799306750297546},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3770580291748047},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3583519756793976},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.34223848581314087},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.32396799325942993},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25049787759780884},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.20897755026817322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16964823007583618},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0803840160369873}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24113385","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24113385","pdf_url":"https://www.mdpi.com/1424-8220/24/11/3385/pdf?version=1716555314","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:38894174","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38894174","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11174517","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11174517","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11174517/pdf/sensors-24-03385.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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:010cde51ef36485ca80ab6216cf3b144","is_oa":false,"landing_page_url":"https://doaj.org/article/010cde51ef36485ca80ab6216cf3b144","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 11, p 3385 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24113385","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24113385","pdf_url":"https://www.mdpi.com/1424-8220/24/11/3385/pdf?version=1716555314","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1657366047","display_name":null,"funder_award_id":"U1909215","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3150442096","display_name":null,"funder_award_id":"LD22E050007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3204896003","display_name":null,"funder_award_id":"52127803","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3446998069","display_name":null,"funder_award_id":"2021Z020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4536443043","display_name":null,"funder_award_id":"2023C01176","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6032524960","display_name":null,"funder_award_id":"2021Z128","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6203909274","display_name":null,"funder_award_id":"92048201","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"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4398766396.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1590804794","https://openalex.org/W1604037492","https://openalex.org/W1606850352","https://openalex.org/W1633007112","https://openalex.org/W1677032491","https://openalex.org/W1975722466","https://openalex.org/W1976270646","https://openalex.org/W1991642292","https://openalex.org/W2015789539","https://openalex.org/W2075139145","https://openalex.org/W2095462685","https://openalex.org/W2101667962","https://openalex.org/W2129935047","https://openalex.org/W2168179610","https://openalex.org/W2184993170","https://openalex.org/W2295380675","https://openalex.org/W2329035258","https://openalex.org/W2527057332","https://openalex.org/W2794117740","https://openalex.org/W2890132254","https://openalex.org/W3003607036","https://openalex.org/W3080406417","https://openalex.org/W3136827180","https://openalex.org/W3176339485","https://openalex.org/W3207689786","https://openalex.org/W3213970052","https://openalex.org/W4210459664","https://openalex.org/W4387316832","https://openalex.org/W6674392669"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3172386668","https://openalex.org/W2045392317","https://openalex.org/W3185180338","https://openalex.org/W2981692717"],"abstract_inverted_index":{"A":[0,189],"Cable-Driven":[1,12],"Continuum":[2,13],"Robot":[3],"(CDCR)":[4],"that":[5],"consists":[6],"of":[7,10,82,120,150,157,161,169,184,213,221,236,261,272,286,295],"a":[8,37,44,170,225,245,279],"set":[9],"identical":[11],"Joint":[14],"Modules":[15],"(CDCJMs)":[16],"is":[17,41,75,173,205,228,250,289,318],"proposed":[18,141,229,263],"in":[19,282],"this":[20,107],"paper.":[21],"The":[22,166,291],"CDCJMs":[23],"merely":[24],"produce":[25],"2-DOF":[26,50,210],"bending":[27,51,63,68,73,118,155,211],"motions":[28],"by":[29,57,77,176,299,320],"controlling":[30],"driving":[31,84],"cable":[32],"lengths.":[33],"In":[34,106,255],"each":[35],"CDCJM,":[36],"pattern-based":[38],"flexible":[39,122],"backbone":[40,123,186],"employed":[42,114],"as":[43,71,125],"passive":[45],"compliant":[46],"joint":[47,59,100,131,203],"to":[48,96,115,126,153,230,257],"generate":[49],"deflections,":[52],"which":[53,283,317],"can":[54],"be":[55,94],"characterized":[56],"two":[58,99,109,130,178,202],"variables,":[60,204],"i.e.,":[61,193],"the":[62,67,72,80,83,88,98,117,121,129,140,148,154,158,182,185,194,197,201,209,214,219,222,233,241,253,259,262,267,273,284,287,296,300,306,309],"direction":[64],"angle":[65],"and":[66,90,136,163,200,308,314],"angle.":[69],"However,":[70],"deflection":[74,156,212],"determined":[76],"not":[78],"only":[79],"lengths":[81],"cables":[85],"but":[86],"also":[87],"gravity":[89],"payload,":[91],"it":[92],"will":[93],"inaccurate":[95],"compute":[97],"variables":[101],"with":[102,134,143],"its":[103,177],"kinematic":[104],"model.":[105],"work,":[108],"stretchable":[110,144,171,237],"capacitive":[111,145],"sensors":[112,146],"are":[113,275,312],"measure":[116],"shape":[119],"so":[124],"accurately":[127],"determine":[128],"variables.":[132],"Compared":[133],"FBG-based":[135],"vision-based":[137],"shape-sensing":[138,191,223,243],"methods,":[139],"method":[142,227,249],"has":[147],"advantages":[149],"high":[151],"sensitivity":[152],"backbone,":[159],"ease":[160],"implementation,":[162],"cost":[164],"effectiveness.":[165],"initial":[167],"location":[168,234],"sensor":[172,198],"generally":[174],"defined":[175],"endpoint":[179],"positions":[180],"on":[181,208,240,278],"surface":[183],"without":[187],"bending.":[188],"generic":[190],"model,":[192,224,244],"relationship":[195],"between":[196],"reading":[199],"formulated":[206],"based":[207,277],"backbone.":[215],"To":[216],"further":[217],"improve":[218],"accuracy":[220,270],"calibration":[226],"compensate":[231],"for":[232,252],"errors":[235,294],"sensors.":[238],"Based":[239],"calibrated":[242],"sliding-mode-based":[246],"closed-loop":[247,264,310],"control":[248,265,311],"implemented":[251],"CDCR.":[254],"order":[256],"verify":[258],"effectiveness":[260],"method,":[266],"trajectory":[268],"tracking":[269,293],"experiments":[271],"CDCR":[274,297],"conducted":[276],"circle":[280,288],"trajectory,":[281],"radius":[285],"55mm.":[290],"average":[292],"measured":[298],"Qualisys":[301],"motion":[302],"capture":[303],"system":[304],"under":[305],"open-loop":[307],"49.23":[313],"8.40mm,":[315],"respectively,":[316],"reduced":[319],"82.94%.":[321]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}