{"id":"https://openalex.org/W2048688754","doi":"https://doi.org/10.1109/iros.2014.6943004","title":"MR compatible continuum robot based on closed elastica with bending and twisting","display_name":"MR compatible continuum robot based on closed elastica with bending and twisting","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2048688754","doi":"https://doi.org/10.1109/iros.2014.6943004","mag":"2048688754"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031173892","display_name":"Atsushi Yamada","orcid":"https://orcid.org/0000-0002-5493-5085"},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamada","raw_affiliation_strings":["Bio Medical Innovation Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN"],"affiliations":[{"raw_affiliation_string":"Bio Medical Innovation Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN","institution_ids":["https://openalex.org/I160046202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111233652","display_name":"Shigeyuki Naka","orcid":null},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeyuki Naka","raw_affiliation_strings":["Department of Surgery, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Surgery, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN","institution_ids":["https://openalex.org/I160046202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112267469","display_name":"Shigehiro Morikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigehiro Morikawa","raw_affiliation_strings":["Department of Fundamental Nursing, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN"],"affiliations":[{"raw_affiliation_string":"Department of Fundamental Nursing, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN","institution_ids":["https://openalex.org/I160046202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101059335","display_name":"Tohru Tani","orcid":null},"institutions":[{"id":"https://openalex.org/I160046202","display_name":"Shiga University of Medical Science","ror":"https://ror.org/00d8gp927","country_code":"JP","type":"education","lineage":["https://openalex.org/I160046202"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tohru Tani","raw_affiliation_strings":["Bio Medical Innovation Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN"],"affiliations":[{"raw_affiliation_string":"Bio Medical Innovation Center, Shiga University of Medical Science, Seta Tsukinowa-cho, Otsu City, 520-2192, JAPAN","institution_ids":["https://openalex.org/I160046202"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.034,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":9,"citation_normalized_percentile":{"value":0.85616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":85,"max":86},"biblio":{"volume":null,"issue":null,"first_page":"3187","last_page":"3192"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Design and Control of Soft Robotic Systems","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":"Design and Control of Soft Robotic Systems","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/T10653","display_name":"Robotic Grasping and Learning from Demonstration","score":0.9906,"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/T10379","display_name":"Cell Mechanics and Extracellular Matrix Interactions","score":0.9596,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuum-robots","display_name":"Continuum Robots","score":0.588922},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"Human-Robot Collaboration","score":0.522954},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft Robotics","score":0.503001},{"id":"https://openalex.org/keywords/bend-radius","display_name":"Bend radius","score":0.48335287}],"concepts":[{"id":"https://openalex.org/C138211643","wikidata":"https://www.wikidata.org/wiki/Q675211","display_name":"Bent molecular geometry","level":2,"score":0.73369396},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6173543},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.590675},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.5830839},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.51320076},{"id":"https://openalex.org/C161690185","wikidata":"https://www.wikidata.org/wiki/Q16984090","display_name":"Bend radius","level":3,"score":0.48335287},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.45253924},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.43660444},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.42933333},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.41363072},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.41114527},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.37180507},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23101208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.22625047},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22200659},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.21543503},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19912863},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, justice, and strong institutions","score":0.79,"id":"https://metadata.un.org/sdg/16"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":19,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1965456896","https://openalex.org/W1968818755","https://openalex.org/W2014502771","https://openalex.org/W2063797945","https://openalex.org/W2067293954","https://openalex.org/W2071435520","https://openalex.org/W2096645690","https://openalex.org/W2099745446","https://openalex.org/W2101667962","https://openalex.org/W2119531408","https://openalex.org/W2128339709","https://openalex.org/W2134555091","https://openalex.org/W2139470902","https://openalex.org/W2145059213","https://openalex.org/W2147492425","https://openalex.org/W2147802545","https://openalex.org/W2156199850","https://openalex.org/W2161409436"],"related_works":["https://openalex.org/W3133496570","https://openalex.org/W2801493204","https://openalex.org/W2730405048","https://openalex.org/W2206892060","https://openalex.org/W2063795661","https://openalex.org/W2059494334","https://openalex.org/W2047431498","https://openalex.org/W2037964280","https://openalex.org/W2013600063","https://openalex.org/W1989199811"],"abstract_inverted_index":{"In":[0],"this":[1,93],"paper,":[2],"we":[3,61,96],"propose":[4],"a":[5,29,43],"novel":[6],"continuum":[7,21],"robot":[8,22],"based":[9],"on":[10,92],"closed":[11,30,39,66,102],"loop":[12,31,40,67,103],"elastic":[13,26,47,112,173],"structure":[14],"with":[15],"bending":[16,107],"and":[17,28,54,73,108,114,162,169],"twisting.":[18],"The":[19,38,132],"proposed":[20,97,133],"consists":[23,150],"of":[24,58,77,100,110,130,141,151,156,159,166],"an":[25],"tube":[27,72,86,121],"arm":[32,41,68,104],"completely":[33,124],"independent":[34],"from":[35],"the":[36,65,71,74,78,85,101,111,120,144,152,163,170],"tube.":[37],"is":[42,143],"simple":[44],"thin":[45],"belt-shaped":[46],"strip":[48,113],"which":[49,149],"has":[50],"two":[51,138],"translational":[52,79],"joints":[53],"one":[55,75],"rotary":[56],"degree":[57],"freedom.":[59],"Here":[60],"found":[62],"that":[63,116],"when":[64],"was":[69,81,135],"inside":[70],"side":[76],"joint":[80],"pushed":[82],"or":[83],"pulled,":[84],"could":[87],"be":[88],"bent":[89],"easily.":[90],"Based":[91],"basic":[94],"result,":[95],"three":[98],"types":[99],"shape":[105],"using":[106],"twisting":[109],"showed":[115],"these":[117],"arms":[118],"made":[119],"deformed":[122],"into":[123],"different":[125],"shapes":[126],"including":[127],"180":[128],"degrees":[129],"rotation.":[131],"mechanism":[134],"applied":[136],"to":[137],"prototypes.":[139],"One":[140],"them":[142],"magnet":[145],"resonance":[146],"compatible":[147],"manipulator":[148],"\u03b2":[153],"titanium":[154],"pipe":[155],"outer":[157],"radius":[158],"3":[160],"mm":[161,168],"wall":[164],"thickness":[165],"0.2":[167],"polyetheretherketone":[171],"resin":[172],"strip.":[174]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2048688754","counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2024-10-21T13:41:43.430642","created_date":"2016-06-24"}
