{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390306672260612224.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.1299/jsmermd.2025.2p1-q06"}},{"identifier":{"@type":"URI","@value":"https://www.jstage.jst.go.jp/article/jsmermd/2025/0/2025_2P1-Q06/_pdf"}}],"dc:title":[{"@language":"en","@value":"A study on linked frusta mechanism for a multi-stable manipulator"}],"dc:language":"en","description":[{"type":"abstract","notation":[{"@language":"en","@value":"<p>The multi-stable frusta mechanism, famous for its application in bendy straws, is characterized by its morph-and-lock functionality. This enhances the discretization of soft robots. We applied the mechanism to a soft manipulator to achieve multiple stable configurations and improve energy efficiency. This study presents a comprehensive kinematic model, prototype implementation and preliminary evaluation of its performance.</p>"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1410306672260612224","@type":"Researcher","foaf:name":[{"@language":"en","@value":"LIMMAN Steffano A."}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410306672260612097","@type":"Researcher","foaf:name":[{"@language":"en","@value":"OSAWA Keisuke"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410306672260612096","@type":"Researcher","foaf:name":[{"@language":"en","@value":"BANDARA D.S.V."}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410306672260612098","@type":"Researcher","foaf:name":[{"@language":"en","@value":"ARATA Jumpei"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Kyushu University"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"24243124"}],"prism:publicationName":[{"@language":"ja","@value":"ロボティクス・メカトロニクス講演会講演概要集"},{"@language":"en","@value":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)"},{"@language":"en","@value":"Robomech"}],"dc:publisher":[{"@language":"en","@value":"The Japan Society of Mechanical Engineers"},{"@language":"ja","@value":"一般社団法人 日本機械学会"}],"prism:publicationDate":"2025","prism:volume":"2025","prism:number":"0","prism:startingPage":"2P1-Q06"},"reviewed":"false","jpcoar:conferenceName":"ロボティクス・メカトロニクス　講演会2025","url":[{"@id":"https://www.jstage.jst.go.jp/article/jsmermd/2025/0/2025_2P1-Q06/_pdf"}],"availableAt":"2025","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Soft%20robot","dc:title":"Soft robot"},{"@id":"https://cir.nii.ac.jp/all?q=3D%20print","dc:title":"3D print"},{"@id":"https://cir.nii.ac.jp/all?q=robotic%20manipulator","dc:title":"robotic manipulator"},{"@id":"https://cir.nii.ac.jp/all?q=frusta%20mechanism","dc:title":"frusta mechanism"}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2014875796"},{"@type":"CROSSREF","@value":"10.1299/jsmermd.2025.2p1-q06"}]}