{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T06:35:13Z","timestamp":1762324513084,"version":"3.40.3"},"publisher-location":"Cham","reference-count":31,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030253318"},{"type":"electronic","value":"9783030253325"}],"license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019]]},"DOI":"10.1007\/978-3-030-25332-5_6","type":"book-chapter","created":{"date-parts":[[2019,7,16]],"date-time":"2019-07-16T08:13:27Z","timestamp":1563264807000},"page":"65-74","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Soft Particles for Granular Jamming"],"prefix":"10.1007","author":[{"given":"Fabrizio","family":"Putzu","sequence":"first","affiliation":[]},{"given":"Jelizaveta","family":"Konstantinova","sequence":"additional","affiliation":[]},{"given":"Kaspar","family":"Althoefer","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,7,17]]},"reference":[{"issue":"7","key":"6_CR1","doi-asserted-by":"publisher","first-page":"12748","DOI":"10.3390\/s140712748","volume":"14","author":"U Culha","year":"2014","unstructured":"Culha, U., Nurzaman, S.G., Clemens, F., Iida, F.: SVAS3: strain vector aided sensorization of soft structures. Sensors 14(7), 12748\u201312770 (2014)","journal-title":"Sensors"},{"key":"6_CR2","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"66","DOI":"10.1007\/978-3-642-00616-6_5","volume-title":"Creating Brain-Like Intelligence","author":"R Pfeifer","year":"2009","unstructured":"Pfeifer, R., G\u00f3mez, G.: Morphological computation \u2013 connecting brain, body, and environment. In: Sendhoff, B., K\u00f6rner, E., Sporns, O., Ritter, H., Doya, K. (eds.) Creating Brain-Like Intelligence. LNCS (LNAI), vol. 5436, pp. 66\u201383. Springer, Heidelberg (2009). \n                      https:\/\/doi.org\/10.1007\/978-3-642-00616-6_5"},{"key":"6_CR3","doi-asserted-by":"crossref","unstructured":"Sareh, S., Rossiter, J., Conn, A., Drescher, K., Goldstein, R.E.: Swimming like algae: biomimetic soft artificial cilia. J. R. Soc. Interface rsif20120666 (2012)","DOI":"10.1098\/rsif.2012.0666"},{"key":"6_CR4","doi-asserted-by":"crossref","unstructured":"Stilli, A., Wurdemann, H.A., Althoefer, K.: Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 2476\u2013 2481. IEEE (2014)","DOI":"10.1109\/IROS.2014.6942899"},{"issue":"3","key":"6_CR5","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1155\/2008\/520417","volume":"5","author":"D Trivedi","year":"2008","unstructured":"Trivedi, D., Rahn, C.D., Kier, W.M., Walker, I.D.: Soft robotics: Biological inspiration, state of the art, and future research. Appl. Bionics Biomech. 5(3), 99\u2013117 (2008)","journal-title":"Appl. Bionics Biomech."},{"issue":"7","key":"6_CR6","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1163\/156855312X626343","volume":"26","author":"C Laschi","year":"2012","unstructured":"Laschi, C., Cianchetti, M., Mazzolai, B., Margheri, L., Follador, M., Dario, P.: Soft robot arm inspired by the octopus. Adv. Robot. 26(7), 709\u2013727 (2012)","journal-title":"Adv. Robot."},{"issue":"11","key":"6_CR7","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1145\/2366316.2366335","volume":"55","author":"R Pfeifer","year":"2012","unstructured":"Pfeifer, R., Lungarella, M., Iida, F.: The challenges ahead for bio-inspired \u2018soft\u2019 robotics. Commun. ACM 55(11), 76\u201387 (2012)","journal-title":"Commun. ACM"},{"key":"6_CR8","doi-asserted-by":"crossref","unstructured":"Baisch, A.T., Sreetharan, P.S., Wood, R.J.: Biologically-inspired locomotion of a 2\u00a0g hexapod robot. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5360\u20135365. IEEE (2010)","DOI":"10.1109\/IROS.2010.5651789"},{"key":"6_CR9","doi-asserted-by":"crossref","unstructured":"Srivatsan, R.A., Travers, M., Choset, H.: Using lie algebra for shape estimation of medical snake robots. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 3483\u20133488. IEEE (2014)","DOI":"10.1109\/IROS.2014.6943048"},{"key":"6_CR10","doi-asserted-by":"crossref","unstructured":"Tully, S., Kantor, G., Zenati, M.A., Choset, H.: Shape estimation for image-guided surgery with a highly articulated snake robot. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1353\u20131358. IEEE (2011)","DOI":"10.1109\/IROS.2011.6048359"},{"key":"6_CR11","doi-asserted-by":"crossref","unstructured":"Walker, I.D.: Continuous backbone continuum robot manipulators. ISRN Robot. 2013 (2013)","DOI":"10.5402\/2013\/726506"},{"key":"6_CR12","unstructured":"Zhang, Z., Shang, J., Seneci, C.\u00b8 Yang, G.-Z.: Snake robot shape sensing using micro-inertial sensors. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 831\u2013836. IEEE (2013)"},{"key":"6_CR13","doi-asserted-by":"crossref","unstructured":"Manfredi, L., Putzu, F., Guler, S., Huan, Y., Cuschieri, A.: 4 DOFs hollow soft pneumatic actuator \u2013 HOSE. Mater. Res. Express (2018)","DOI":"10.1088\/2053-1591\/aaebea"},{"issue":"1","key":"6_CR14","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1089\/soro.2016.0015","volume":"4","author":"A Stilli","year":"2017","unstructured":"Stilli, A., Wurdemann, H., Althoefer, K.: A novel concept for safe, stiffness-controllable robot links. Soft Robot. 4(1), 16\u201322 (2017)","journal-title":"Soft Robot."},{"key":"6_CR15","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1038\/s41578-018-0004-0","volume":"3","author":"K Althoefer","year":"2018","unstructured":"Althoefer, K.: Antagonistic actuation and stiffness control in soft inflatable robots. Nat. Rev. Mater. 3, 76\u201377 (2018)","journal-title":"Nat. Rev. Mater."},{"key":"6_CR16","unstructured":"Althoefer, K.: Neuro-fuzzy path planning for robotic manipulators. Ph.D. thesis, King\u2019s College London (1996)"},{"key":"6_CR17","doi-asserted-by":"crossref","unstructured":"Degani, A., et al.: Highly articulated robotic probe for minimally invasive surgery. In: 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vols. 1\u20138, pp. 3273\u20133276 (2008)","DOI":"10.1109\/IEMBS.2008.4649903"},{"key":"6_CR18","unstructured":"Simaan, N.: Snake-like units using flexible backbones and actuation redundancy for enhanced miniaturization. In: 2005 IEEE International Conference on Robotics and Automation (ICRA), vols. 1\u20134, pp. 3012\u20133017 (2005)"},{"key":"6_CR19","doi-asserted-by":"publisher","first-page":"1262","DOI":"10.1109\/TRO.2008.2002311","volume":"24","author":"DB Camarillo","year":"2008","unstructured":"Camarillo, D.B., et al.: Mechanics modeling of tendon-driven continuum manipulators. IEEE Trans. Robot. 24, 1262\u20131273 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"6_CR20","doi-asserted-by":"publisher","first-page":"1237","DOI":"10.1109\/TRO.2009.2032968","volume":"25","author":"K Ning","year":"2009","unstructured":"Ning, K., Worgotter, F.: A novel concept for building a hyper-redundant chain robot. IEEE Trans. Robot. 25, 1237\u20131248 (2009)","journal-title":"IEEE Trans. Robot."},{"key":"6_CR21","doi-asserted-by":"crossref","unstructured":"Cheng, N., et al.: Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 5207\u20135212 (2010)","DOI":"10.1109\/ROBOT.2010.5509247"},{"key":"6_CR22","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/TRO.2009.2035740","volume":"26","author":"PE Dupont","year":"2010","unstructured":"Dupont, P.E., et al.: Design and control of concentric-tube robots. IEEE Trans. Robot. 26, 209\u2013225 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"6_CR23","doi-asserted-by":"publisher","first-page":"192","DOI":"10.1089\/soro.2014.0002","volume":"1","author":"A Jiang","year":"2014","unstructured":"Jiang, A., et al.: Robotic granular jamming: does the membrane matter? Soft Robot. 1(3), 192\u2013201 (2014)","journal-title":"Soft Robot."},{"issue":"2","key":"6_CR24","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1109\/TRO.2011.2171093","volume":"28","author":"J Amend","year":"2012","unstructured":"Amend, J., Brown, E., Rodenberg, N., Jaeger, H., Lipson, H.: A positive pressure universal gripper based on the jamming of granular material. IEEE Trans. Robot. 28(2), 341\u2013350 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"6_CR25","doi-asserted-by":"crossref","unstructured":"Stanley, A.A., Gwilliam, J.C., Okamura, A.M.: Haprtic jamming: a deformable geometry, variable stiffness tactile display using pneumatics and particle jamming. In: World Haptics Conference (WHC), 14\u201317 April 2013","DOI":"10.1109\/WHC.2013.6548379"},{"issue":"9","key":"6_CR26","doi-asserted-by":"publisher","first-page":"095007","DOI":"10.1088\/0964-1726\/23\/9\/095007","volume":"23","author":"M Li","year":"2014","unstructured":"Li, M., et al.: Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators. Smart Mater. Struct. 23(9), 095007 (2014)","journal-title":"Smart Mater. Struct."},{"key":"6_CR27","doi-asserted-by":"crossref","unstructured":"Cheng, N., et al.: Design and analysis of roust, low-cost, highly articulated manipulator enabled by jamming of granular media. In: International Conference on Robotics and Automation (ICRA), 14\u201318 May 2012","DOI":"10.1109\/ICRA.2012.6225373"},{"key":"6_CR28","doi-asserted-by":"crossref","unstructured":"Zuriguel, I., Garcimart\u00edn, A., Maza, D., Pugnaloni, L.A., Pastor, J.M.: Jamming during the discharge of granular matter from a silo. Phys. Rev. E 71 (2005)","DOI":"10.1103\/PhysRevE.71.051303"},{"issue":"6","key":"6_CR29","doi-asserted-by":"publisher","first-page":"6802","DOI":"10.1103\/PhysRevE.61.6802","volume":"61","author":"J-N Roux","year":"2000","unstructured":"Roux, J.-N.: Geometric origin of mechanical properties of granular materials. Phys. Rev. E 61(6), 6802\u20136836 (2000)","journal-title":"Phys. Rev. E"},{"issue":"7045","key":"6_CR30","doi-asserted-by":"publisher","first-page":"1075","DOI":"10.1038\/nature03698","volume":"435","author":"E Corwin","year":"2005","unstructured":"Corwin, E., Jaeger, H., Nagel, S.: Structural signature of jamming in granular media. Nature 435(7045), 1075\u20131078 (2005)","journal-title":"Nature"},{"key":"6_CR31","doi-asserted-by":"crossref","unstructured":"van Hecke, M.: Jamming of soft particles: geometry, mechanics, scaling and isostaticity. J. Phys. Condens. Matter 22(3) (2009)","DOI":"10.1088\/0953-8984\/22\/3\/033101"}],"container-title":["Lecture Notes in Computer Science","Towards Autonomous Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-25332-5_6","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,14]],"date-time":"2019-08-14T07:03:57Z","timestamp":1565766237000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-030-25332-5_6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019]]},"ISBN":["9783030253318","9783030253325"],"references-count":31,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-25332-5_6","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2019]]},"assertion":[{"value":"17 July 2019","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"TAROS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Annual Conference Towards Autonomous Robotic Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"London","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"United Kingdom","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"3 July 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"5 July 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"20","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"taros2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.qmul.ac.uk\/robotics\/events\/taros2019\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}