{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,18]],"date-time":"2026-06-18T19:58:44Z","timestamp":1781812724858,"version":"3.54.5"},"reference-count":63,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2016,2,1]],"date-time":"2016-02-01T00:00:00Z","timestamp":1454284800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2016,2,1]],"date-time":"2016-02-01T00:00:00Z","timestamp":1454284800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2016,2,1]],"date-time":"2016-02-01T00:00:00Z","timestamp":1454284800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100004963","name":"Seventh Framework Program","doi-asserted-by":"publisher","award":["287728"],"award-info":[{"award-number":["287728"]}],"id":[{"id":"10.13039\/501100004963","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2016,2]]},"DOI":"10.1109\/tro.2015.2507160","type":"journal-article","created":{"date-parts":[[2016,1,20]],"date-time":"2016-01-20T21:00:13Z","timestamp":1453323613000},"page":"187-200","source":"Crossref","is-referenced-by-count":236,"title":["A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module"],"prefix":"10.1109","volume":"32","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8362-3710","authenticated-orcid":false,"given":"Tommaso","family":"Ranzani","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matteo","family":"Cianchetti","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Giada","family":"Gerboni","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Iris De","family":"Falco","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Arianna","family":"Menciassi","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2013.6610985"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942610"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1097\/01.sla.0000232518.01447.c7"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/MEMSYS.1991.114797"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1055\/s-0028-1119454"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-015-0267-0"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.3390\/robotics3010070"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-05353-0_35"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2012-70670"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/s10035-010-0193-8"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.3109\/13645706.2012.728530"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1097\/00019509-199602000-00017"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/23\/9\/095007"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1155\/2008\/520417"},{"key":"ref16","year":"0"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0001"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.5402\/2013\/726506"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1117\/12.853182"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225373"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.5772\/55270"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/MPUL.2010.939176"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2171093"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1038\/23819"},{"key":"ref42","first-page":"4454","article-title":"Long bending rubber mechanism combined contracting and extending fluidic\n actuators","author":"suzumori","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref41","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1109\/37.341863","article-title":"Control of pneumatic muscle actuators","volume":"15","author":"caldwell","year":"1995","journal-title":"IEEE Control Syst"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2014.6943724"},{"key":"ref43","article-title":"Hydraulic actuation in\n miniature medical robots","author":"moers","year":"0"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0002"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980261"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224986"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s004640080009"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2006.1639183"},{"key":"ref3","first-page":"4167","article-title":"Highly articulated robotic probe for minimally invasive surgery","author":"degani","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2013.2260860"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630581"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2011.03.008"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364246"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-0488(19970915)35:12<1919::AID-POLB7>3.0.CO;2-K"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1002\/ange.201006464"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0016"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1515\/bmt-2013-4406"},{"key":"ref30","year":"0"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.precisioneng.2008.10.004"},{"key":"ref32","first-page":"4446","article-title":"Characterization of silicone rubber based soft pneumatic\n actuators","author":"yi","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref2","year":"0"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2012.2236311"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2013.6766586"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/21\/4\/045008"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2256313"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2309835"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631142"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2287975"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0035207"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.3109\/13645706.2015.1012083"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2105410"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2002.1001976"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696866"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/3\/035008"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990610"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631203"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907043"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907802"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/7399431\/07387755.pdf?arnumber=7387755","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,4,27]],"date-time":"2023-04-27T22:36:31Z","timestamp":1682634991000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/7387755\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,2]]},"references-count":63,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tro.2015.2507160","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,2]]}}}