Evidence map›Paper›PMID 36779989›Full record

ArticleSoft robotics2023

A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs.

Jiahui Qiu, Aihong Ji, Kongjun Zhu, Qinfei Han, Wei Wang, Qian Qi, Guangming Chen

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Soft robotics, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.

0numbers the graph read from it
0cells of the map it votes in
4citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

4 citing papers in PubMed.

  1. Article
  2. Review
  3. Article
  4. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

7 authors.

Jiahui QiuLab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, and College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Aihong JiLab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, and College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Kongjun ZhuState Key Laboratory of Mechanics and Control of Mechanical Structures, College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Qinfei HanLab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, and College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Wei WangLab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, and College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Qian QiLab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, and College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
Guangming ChenLab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, and College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

The majority of sprawling-posture quadrupedal vertebrates, such as geckos and lizards, adopt a cyclical lateral swing pattern of their trunk that is coordinated with limb movements to provide extraordinary flexibility and mobility. Inspired by the gecko's locomotory gait and posture, a gecko-like robot with a flexible spine driven by shape memory alloy (SMA) springs was proposed in this work. The static parameters of the SMA spring were experimentally measured, and the flexible spine driven by SMA springs can be deflected bidirectionally. A kinematic model of the spine mechanism was established, and the mathematical relationship between the thermodynamic behavior of the SMA springs and spinal deflection was systematically analyzed. When a gecko trots with a lateral swing pattern of its trunk, the body and the spine show a standing wave shape and a single-peak C-type curve, respectively. The lateral spine deflection and trotting gait were combined in a collaborative model of a flexible spine and limbs to describe in detail the specific relationships between leg joint variables and spine deflection angle. Planar motion tests of a prototype robot were also conducted by using four high-speed cameras to record the trajectory of each point of the body, which verified the proposed model. From the acquired results, it was demonstrated that, compared with a rigid body, a robot with a flexible spine has a longer stride length, higher speed, and a greatly reduced turning radius.

Indexed as

LizardsRoboticsAnimalsLocomotionShape Memory AlloysSpineShape Memory Alloysflexible spinegecko robotkinematicslateral swing patternSMA spring

Identifiers

PMID36779989
PMCPMC10442688

What OpenQuestion holds

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.