{"id":"https://openalex.org/W2934356351","doi":"https://doi.org/10.1109/lra.2019.2908493","title":"Soft, Multi-DoF, Variable Stiffness Mechanism Using Layer Jamming for Wearable Robots","display_name":"Soft, Multi-DoF, Variable Stiffness Mechanism Using Layer Jamming for Wearable Robots","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2934356351","doi":"https://doi.org/10.1109/lra.2019.2908493","mag":"2934356351"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2908493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2908493","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"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/A5024556486","display_name":"Won Ho Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Won Ho Choi","raw_affiliation_strings":["Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7814-339X","affiliations":[{"raw_affiliation_string":"Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027067132","display_name":"Sung-Hwan Kim","orcid":"https://orcid.org/0000-0002-6868-4096"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sunghwan Kim","raw_affiliation_strings":["Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101472250","display_name":"Dongun Lee","orcid":"https://orcid.org/0000-0001-5349-9659"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongun Lee","raw_affiliation_strings":["Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5349-9659","affiliations":[{"raw_affiliation_string":"Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101720556","display_name":"Dongjun Shin","orcid":"https://orcid.org/0000-0003-2321-5605"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjun Shin","raw_affiliation_strings":["Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2321-5605","affiliations":[{"raw_affiliation_string":"Human-Centered Robotics Lab, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024556486"],"corresponding_institution_ids":["https://openalex.org/I67900169"],"apc_list":null,"apc_paid":null,"fwci":3.7883,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.93740794,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"4","issue":"3","first_page":"2539","last_page":"2546"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9983999729156494,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jamming","display_name":"Jamming","score":0.8340380191802979},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6297147870063782},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6002228856086731},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5954897999763489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5278725028038025},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5039567351341248},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4926803708076477},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36146533489227295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2919902801513672},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2108694612979889},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19494417309761047},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1726054549217224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08379799127578735}],"concepts":[{"id":"https://openalex.org/C2779079576","wikidata":"https://www.wikidata.org/wiki/Q17092823","display_name":"Jamming","level":2,"score":0.8340380191802979},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6297147870063782},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6002228856086731},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5954897999763489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5278725028038025},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5039567351341248},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4926803708076477},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36146533489227295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2919902801513672},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2108694612979889},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19494417309761047},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1726054549217224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08379799127578735},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2908493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2908493","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G2060914694","display_name":null,"funder_award_id":"NRF-2016R1A5A1938472","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G4328129792","display_name":null,"funder_award_id":"NRF-2017M3C1B2085321","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1606846501","https://openalex.org/W1847353717","https://openalex.org/W1983067379","https://openalex.org/W1989718315","https://openalex.org/W2007924815","https://openalex.org/W2008156858","https://openalex.org/W2041186773","https://openalex.org/W2055111324","https://openalex.org/W2072293370","https://openalex.org/W2074535625","https://openalex.org/W2096178249","https://openalex.org/W2113331157","https://openalex.org/W2113899190","https://openalex.org/W2169706473","https://openalex.org/W2520982900","https://openalex.org/W2576531615","https://openalex.org/W2734643885","https://openalex.org/W2740040579","https://openalex.org/W2754179659","https://openalex.org/W2763137514","https://openalex.org/W2785767758","https://openalex.org/W2792966616","https://openalex.org/W2833516672","https://openalex.org/W2848247366"],"related_works":["https://openalex.org/W1984793747","https://openalex.org/W4312547492","https://openalex.org/W3197729047","https://openalex.org/W3016692377","https://openalex.org/W1624160917","https://openalex.org/W2370486284","https://openalex.org/W2143847498","https://openalex.org/W2354671671","https://openalex.org/W1987034598","https://openalex.org/W3005169718"],"abstract_inverted_index":{"Recently,":[0],"vacuum-based":[1],"layer":[2,16,48,56,120],"jamming":[3,17,49,57,121],"mechanisms":[4,18],"have":[5],"been":[6],"actively":[7],"researched":[8],"for":[9],"safe":[10],"human-robot":[11],"interaction.":[12],"However,":[13],"most":[14],"conventional":[15,119],"provide":[19],"restricted":[20],"motion":[21],"in":[22,29,67,73,86,147,154,170],"one":[23],"direction":[24,150,157],"such":[25],"that":[26,51,103],"their":[27],"application":[28],"wearable":[30,183],"robots":[31],"is":[32,111,115,129],"significantly":[33],"limited.":[34],"To":[35],"address":[36],"this":[37],"problem,":[38],"we":[39],"propose":[40],"a":[41,53,90,179],"novel,":[42],"soft,":[43],"multi-degree":[44],"of":[45,109,138,182],"freedom":[46],"(multi-DoF)":[47],"mechanism":[50,58],"employs":[52],"sliding":[54],"linkage-based":[55],"(SLLJ).":[59],"The":[60],"proposed":[61],"SLLJ":[62,81,110,140,160,174],"allows":[63],"movement":[64],"not":[65],"only":[66],"the":[68,74,80,104,118,124,136,139,148,155,159,173],"linear":[69,106,149],"direction,":[70],"but":[71],"also":[72],"pitch":[75],"and":[76,88,97,123,151,192],"yaw":[77,126,156],"directions.":[78],"Furthermore,":[79],"can":[82,141,175],"control":[83],"its":[84],"stiffness":[85,137,191],"multi-directions":[87],"generate":[89],"large":[91],"resisting":[92,107,127,194],"force":[93,108],"with":[94,189],"small":[95],"thickness":[96],"light":[98],"weight.":[99],"Experimental":[100],"results":[101],"show":[102],"maximum":[105,125],"264.8":[112],"N,":[113],"which":[114,185],"comparable":[116],"to":[117,165,178],"mechanism,":[122],"torque":[128],"1.363":[130],"Nm":[131],"before":[132],"buckling.":[133],"In":[134],"addition,":[135],"be":[142,176],"increased":[143],"by":[144],"96.6":[145],"folds":[146,153],"60.02":[152],"when":[158],"transforms":[161],"from":[162],"soft":[163],"state":[164],"rigid":[166],"state.":[167],"Being":[168],"fabricated":[169],"various":[171],"shapes,":[172],"adapted":[177],"wide":[180],"range":[181],"robots,":[184],"require":[186],"multi-DoF":[187],"motions":[188],"variable":[190],"substantial":[193],"force.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
