{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:04:32Z","timestamp":1766066672094,"version":"3.44.0"},"reference-count":32,"publisher":"IEEE","license":[{"start":{"date-parts":[[2016,8,1]],"date-time":"2016-08-01T00:00:00Z","timestamp":1470009600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2016,8,1]],"date-time":"2016-08-01T00:00:00Z","timestamp":1470009600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,8]]},"DOI":"10.1109\/icinfa.2016.7832040","type":"proceedings-article","created":{"date-parts":[[2017,2,7]],"date-time":"2017-02-07T16:25:40Z","timestamp":1486484740000},"page":"1409-1413","source":"Crossref","is-referenced-by-count":7,"title":["Preliminary design and study of a bio-inspired wire-driven serpentine robotic manipulator with direct drive capability"],"prefix":"10.1109","author":[{"given":"Sehun","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenjun","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gu","family":"Xiaoyi","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongliang","family":"Ren","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117575"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2015.7222611"},{"key":"ref31","first-page":"683","article-title":"Friction compensation of harmonic drive actuators","author":"hauschild","year":"2004","journal-title":"Proc Dyn Cont Sys Struc Space"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/37.45790"},{"key":"ref10","article-title":"Shape monitoring for flexible surgical robots based on Bezier curve and electromagnetic tracking &#x2014; Methods, applications and analysis","author":"song","year":"0","journal-title":"IEEE Trans Hum -Mach Ssyt"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2015.2456181"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2015.2424228"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.05.003"},{"key":"ref14","first-page":"637","article-title":"Marker based shape tracking of a flexible serpentine manipulator","author":"xu","year":"2015","journal-title":"Proc ICIAP"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2009.12.001"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/4\/1\/015006"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2521384"},{"key":"ref18","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/TRO.2005.861458","article-title":"Kinematics for multisection continuumrobots","volume":"22","author":"jones","year":"2006","journal-title":"IEEE Trans Robot"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(97)80053-2"},{"key":"ref28","first-page":"3764","article-title":"Deflection-based force sensing for continuumrobots: A probabilistic approach","author":"rucker","year":"2011","journal-title":"Proc IROS"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1615\/CritRevBiomedEng.2014010440"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915584806"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5625975"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/4\/2\/021001"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2014.6913797"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.774029"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.5402\/2013\/726506"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354226"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.4032272"},{"key":"ref1","first-page":"81","article-title":"A bio-inspired flexible robot with hybrid actuation mechanisms for endoscopic surgery","author":"poon","year":"2014","journal-title":"The Hamlyn Symposium for Medical Robotics"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.5772\/56025"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1109\/TRO.2009.2035740","article-title":"Design and control of concentric-tube robots","volume":"26","author":"dupont","year":"2010","journal-title":"IEEE Trans Robot"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2015.08.019"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907802"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2181405"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509569"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924266"}],"event":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","start":{"date-parts":[[2016,8,1]]},"location":"Ningbo, China","end":{"date-parts":[[2016,8,3]]}},"container-title":["2016 IEEE International Conference on Information and Automation (ICIA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7811905\/7831787\/07832040.pdf?arnumber=7832040","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,19]],"date-time":"2025-08-19T18:08:27Z","timestamp":1755626907000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/7832040\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,8]]},"references-count":32,"URL":"https:\/\/doi.org\/10.1109\/icinfa.2016.7832040","relation":{},"subject":[],"published":{"date-parts":[[2016,8]]}}}