A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery
- Submitting institution
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King's College London
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 87466244
- Type
- D - Journal article
- DOI
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10.1109/TRO.2016.2539373
- Title of journal
- IEEE TRANSACTIONS ON ROBOTICS
- Article number
- 7452410
- First page
- 484
- Volume
- 32
- Issue
- 3
- ISSN
- 1552-3098
- Open access status
- Out of scope for open access requirements
- Month of publication
- April
- Year of publication
- 2016
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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3
- Research group(s)
-
-
- Citation count
- 42
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This paper uses the famous waterbomb Origami pattern to design a novel parallel device with a rigorous analysis and demonstration by construction. The work has been described as a novel advance in extensive gripping and actuation (Dolph et al. Future Robotic Systems, 2019) and used by others, e.g. at EPFL (Firouzeh, T-RO, 2017) and Scuola Superiore Sant’anna (Cianchetti, Soft Robotics 2017). The work was also commented as a novel advancement for its original way of creating soft robots for minimally invasive surgery (Robotic-Assisted M.I.S, 2019). Led to £1.4M EPSRC award EP/S019790/1 with Leeds University & Hospital.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -
