{"id":"https://openalex.org/W7147541726","doi":"https://doi.org/10.48550/arxiv.2603.28240","title":"Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error","display_name":"Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147541726","doi":"https://doi.org/10.48550/arxiv.2603.28240"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.28240","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28240","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.28240","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046649081","display_name":"Federico Mariano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mariano, Federico","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132669926","display_name":"Elena De Momi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"De Momi, Elena","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132551244","display_name":"Giovanni Berselli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Berselli, Giovanni","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050216775","display_name":"Jovana Jovanova","orcid":"https://orcid.org/0000-0001-8347-6386"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jovanova, Jovana","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031855661","display_name":"Just L. Herder","orcid":"https://orcid.org/0000-0002-2770-0539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Herder, Just L.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132730405","display_name":"Leonardo S. Mattos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mattos, Leonardo S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9427000284194946,"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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9427000284194946,"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/T10868","display_name":"Soft Robotics and Applications","score":0.045499999076128006,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.002400000113993883,"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":0.781000018119812},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6963000297546387},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.6718000173568726},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.6680999994277954},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6614000201225281},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.49570000171661377},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4481000006198883}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.781000018119812},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6963000297546387},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.6718000173568726},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.6680999994277954},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6614000201225281},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5457000136375427},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.49570000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47620001435279846},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4481000006198883},{"id":"https://openalex.org/C168834538","wikidata":"https://www.wikidata.org/wiki/Q3705329","display_name":"Beam (structure)","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3917999863624573},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3467000126838684},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.34599998593330383},{"id":"https://openalex.org/C21036866","wikidata":"https://www.wikidata.org/wiki/Q181767","display_name":"Stress (linguistics)","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.275299996137619},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2623000144958496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2612000107765198},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.25369998812675476},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.28240","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28240","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.28240","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28240","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"off-axis,":[4],"monolithic":[5],"compliant":[6],"Remote":[7],"Center":[8],"of":[9,40,137,145,167,182],"Motion":[10],"(RCM)":[11],"joint":[12,80],"for":[13,190],"neuroendoscopic":[14],"manipulation,":[15],"combining":[16],"near-isotropic":[17],"stiffness":[18,74,177],"with":[19,58,83,179],"minimal":[20],"parasitic":[21],"motion.":[22],"Based":[23],"on":[24,107,170],"the":[25,29,34,118,152,174],"Tetra":[26],"II":[27],"concept,":[28],"end-effector":[30,119],"is":[31,81,99,115],"placed":[32],"outside":[33],"tetrahedral":[35],"flexure":[36],"to":[37,72],"improve":[38],"line":[39],"sight,":[41],"facilitate":[42],"sterilization,":[43],"and":[44,86,105,139],"allow":[45],"rapid":[46],"tool":[47],"release.":[48],"Design":[49],"proceeds":[50],"in":[51],"two":[52],"stages:":[53],"mobility":[54],"panels":[55,65],"are":[56,66],"sized":[57],"a":[59,108,110,121,131,140,148,163,185],"compliance-based":[60],"isotropy":[61,75],"objective,":[62],"then":[63],"constraining":[64],"synthesized":[67],"through":[68],"finite-element":[69,90],"feasibility":[70],"exploration":[71],"trade":[73],"against":[76],"RCM":[77,154,188],"drift.":[78],"The":[79,127],"modeled":[82],"beam":[84],"elements":[85],"validated":[87],"via":[88],"detailed":[89],"analyses,":[91],"including":[92],"fatigue-bounded":[93],"stress":[94],"constraints.":[95],"A":[96],"PA12":[97],"prototype":[98],"fabricated":[100],"by":[101],"selective":[102],"laser":[103],"sintering":[104],"characterized":[106],"benchtop:":[109],"2":[111],"N":[112],"radial":[113],"load":[114],"applied":[116],"at":[117],"while":[120],"6-DOF":[122],"electromagnetic":[123],"sensor":[124],"records":[125],"pose.":[126],"selected":[128],"configuration":[129],"produces":[130],"stiffness-ellipse":[132],"principal":[133],"axis":[134],"ratio":[135,143],"(PAR)":[136],"1.37":[138],"parasitic-to-useful":[141],"rotation":[142],"(PRR)":[144],"0.63%.":[146],"Under":[147],"4.5\u00b0":[149],"commanded":[150],"rotation,":[151],"predicted":[153],"drift":[155],"remains":[156],"sub-millimetric":[157],"(0.015-0.172":[158],"mm).":[159],"Fatigue":[160],"analysis":[161],"predicts":[162],"usable":[164],"rotational":[165],"workspace":[166],"12.1\u00b0-34.4\u00b0":[168],"depending":[169],"direction.":[171],"Experiments":[172],"reproduce":[173],"simulated":[175],"directional":[176],"trend":[178],"typical":[180],"deviations":[181],"6-30%,":[183],"demonstrating":[184],"compact,":[186],"fabrication-ready":[187],"module":[189],"constrained":[191],"surgical":[192],"access.":[193]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-02T00:00:00"}
