Intuition-guided Reinforcement Learning for Soft Tissue Manipulation with Unknown Constraints Article Swipe
Xian He
,
Shuai Zhang
,
Jian Chu
,
Tongyu Jia
,
Lantao Yu
,
Bo Ouyang
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.34133/cbsystems.0114
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.34133/cbsystems.0114
Intraoperative soft tissue manipulation is a critical challenge in autonomous robotic surgery. Furthermore, the intricate in vivo environment surrounding the target soft tissues poses additional hindrances to autonomous robotic decision-making. Previous studies assumed the grasping point was known and the target deformation could be achieved. The constraints were assumed to be constant during the operation, and there were no obstacles around the soft tissue. To address these problems, an intuition-guided deep reinforcement learning framework based on soft actor-critic (ID-SAC) was proposed for soft tissue manipulation under unknown constraints. The SAC algorithm is automatically activated upon encountering an obstacle, and the designed intuitive manipulation (IM) strategy is used to pull soft tissues toward the target shape directly when the obstacle is distant. A regulator factor is designed as an action within this framework to coordinate the IM approach and the SAC network. A reward function is designed to balance the exploration and exploitation of large deformations. Simultaneously, we proposed an autonomous grasp point selection neural network to prevent the impractical selection of grasp points, ensuring they can reach the target while avoiding grasping lesions and constrained areas. Successful simulation results confirmed that the proposed framework can manipulate the soft tissue while avoiding obstacles and adding new positional constraints. Compared with the SAC algorithm, the proposed framework can markedly increase the robotic soft tissue manipulation ability by automatically adjusting the regulator factors.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.34133/cbsystems.0114
- OA Status
- diamond
- Cited By
- 1
- References
- 33
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4393220255
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4393220255Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.34133/cbsystems.0114Digital Object Identifier
- Title
-
Intuition-guided Reinforcement Learning for Soft Tissue Manipulation with Unknown ConstraintsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-03-27Full publication date if available
- Authors
-
Xian He, Shuai Zhang, Jian Chu, Tongyu Jia, Lantao Yu, Bo OuyangList of authors in order
- Landing page
-
https://doi.org/10.34133/cbsystems.0114Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.34133/cbsystems.0114Direct OA link when available
- Concepts
-
Intuition, Reinforcement learning, Reinforcement, Computer science, Artificial intelligence, Psychology, Cognitive science, Cognitive psychology, Machine learning, Social psychologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1Per-year citation counts (last 5 years)
- References (count)
-
33Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4393220255 |
|---|---|
| doi | https://doi.org/10.34133/cbsystems.0114 |
| ids.doi | https://doi.org/10.34133/cbsystems.0114 |
| ids.pmid | https://pubmed.ncbi.nlm.nih.gov/40230400 |
| ids.openalex | https://openalex.org/W4393220255 |
| fwci | 0.36752596 |
| type | article |
| title | Intuition-guided Reinforcement Learning for Soft Tissue Manipulation with Unknown Constraints |
| biblio.issue | |
| biblio.volume | 6 |
| biblio.last_page | 0114 |
| biblio.first_page | 0114 |
| topics[0].id | https://openalex.org/T10868 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9945999979972839 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2204 |
| topics[0].subfield.display_name | Biomedical Engineering |
| topics[0].display_name | Soft Robotics and Applications |
| topics[1].id | https://openalex.org/T10653 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.9900000095367432 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2207 |
| topics[1].subfield.display_name | Control and Systems Engineering |
| topics[1].display_name | Robot Manipulation and Learning |
| topics[2].id | https://openalex.org/T10784 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9757999777793884 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2204 |
| topics[2].subfield.display_name | Biomedical Engineering |
| topics[2].display_name | Muscle activation and electromyography studies |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C132010649 |
| concepts[0].level | 2 |
| concepts[0].score | 0.7904145121574402 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q189222 |
| concepts[0].display_name | Intuition |
| concepts[1].id | https://openalex.org/C97541855 |
| concepts[1].level | 2 |
| concepts[1].score | 0.7084639668464661 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q830687 |
| concepts[1].display_name | Reinforcement learning |
| concepts[2].id | https://openalex.org/C67203356 |
| concepts[2].level | 2 |
| concepts[2].score | 0.47575706243515015 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q1321905 |
| concepts[2].display_name | Reinforcement |
| concepts[3].id | https://openalex.org/C41008148 |
| concepts[3].level | 0 |
| concepts[3].score | 0.4531385004520416 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[3].display_name | Computer science |
| concepts[4].id | https://openalex.org/C154945302 |
| concepts[4].level | 1 |
| concepts[4].score | 0.4493577182292938 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[4].display_name | Artificial intelligence |
| concepts[5].id | https://openalex.org/C15744967 |
| concepts[5].level | 0 |
| concepts[5].score | 0.40184664726257324 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q9418 |
| concepts[5].display_name | Psychology |
| concepts[6].id | https://openalex.org/C188147891 |
| concepts[6].level | 1 |
| concepts[6].score | 0.37548506259918213 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q147638 |
| concepts[6].display_name | Cognitive science |
| concepts[7].id | https://openalex.org/C180747234 |
| concepts[7].level | 1 |
| concepts[7].score | 0.3391525149345398 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q23373 |
| concepts[7].display_name | Cognitive psychology |
| concepts[8].id | https://openalex.org/C119857082 |
| concepts[8].level | 1 |
| concepts[8].score | 0.3251749873161316 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q2539 |
| concepts[8].display_name | Machine learning |
| concepts[9].id | https://openalex.org/C77805123 |
| concepts[9].level | 1 |
| concepts[9].score | 0.17597448825836182 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q161272 |
| concepts[9].display_name | Social psychology |
| keywords[0].id | https://openalex.org/keywords/intuition |
| keywords[0].score | 0.7904145121574402 |
| keywords[0].display_name | Intuition |
| keywords[1].id | https://openalex.org/keywords/reinforcement-learning |
| keywords[1].score | 0.7084639668464661 |
| keywords[1].display_name | Reinforcement learning |
| keywords[2].id | https://openalex.org/keywords/reinforcement |
| keywords[2].score | 0.47575706243515015 |
| keywords[2].display_name | Reinforcement |
| keywords[3].id | https://openalex.org/keywords/computer-science |
| keywords[3].score | 0.4531385004520416 |
| keywords[3].display_name | Computer science |
| keywords[4].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[4].score | 0.4493577182292938 |
| keywords[4].display_name | Artificial intelligence |
| keywords[5].id | https://openalex.org/keywords/psychology |
| keywords[5].score | 0.40184664726257324 |
| keywords[5].display_name | Psychology |
| keywords[6].id | https://openalex.org/keywords/cognitive-science |
| keywords[6].score | 0.37548506259918213 |
| keywords[6].display_name | Cognitive science |
| keywords[7].id | https://openalex.org/keywords/cognitive-psychology |
| keywords[7].score | 0.3391525149345398 |
| keywords[7].display_name | Cognitive psychology |
| keywords[8].id | https://openalex.org/keywords/machine-learning |
| keywords[8].score | 0.3251749873161316 |
| keywords[8].display_name | Machine learning |
| keywords[9].id | https://openalex.org/keywords/social-psychology |
| keywords[9].score | 0.17597448825836182 |
| keywords[9].display_name | Social psychology |
| language | en |
| locations[0].id | doi:10.34133/cbsystems.0114 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4210209220 |
| locations[0].source.issn | 2097-1087, 2692-7632 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | 2097-1087 |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | True |
| locations[0].source.display_name | Cyborg and Bionic Systems |
| locations[0].source.host_organization | https://openalex.org/P4310315823 |
| locations[0].source.host_organization_name | American Association for the Advancement of Science |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310315823 |
| locations[0].source.host_organization_lineage_names | American Association for the Advancement of Science |
| locations[0].license | cc-by |
| locations[0].pdf_url | |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | https://openalex.org/licenses/cc-by |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | Cyborg and Bionic Systems |
| locations[0].landing_page_url | https://doi.org/10.34133/cbsystems.0114 |
| locations[1].id | pmid:40230400 |
| locations[1].is_oa | False |
| locations[1].source.id | https://openalex.org/S4306525036 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | False |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | PubMed |
| locations[1].source.host_organization | https://openalex.org/I1299303238 |
| locations[1].source.host_organization_name | National Institutes of Health |
| locations[1].source.host_organization_lineage | https://openalex.org/I1299303238 |
| locations[1].license | |
| locations[1].pdf_url | |
| locations[1].version | publishedVersion |
| locations[1].raw_type | |
| locations[1].license_id | |
| locations[1].is_accepted | True |
| locations[1].is_published | True |
| locations[1].raw_source_name | Cyborg and bionic systems (Washington, D.C.) |
| locations[1].landing_page_url | https://pubmed.ncbi.nlm.nih.gov/40230400 |
| locations[2].id | pmh:oai:doaj.org/article:dd02fb648baf42a7aa7e20403a906f55 |
| locations[2].is_oa | False |
| locations[2].source.id | https://openalex.org/S4306401280 |
| locations[2].source.issn | |
| locations[2].source.type | repository |
| locations[2].source.is_oa | False |
| locations[2].source.issn_l | |
| locations[2].source.is_core | False |
| locations[2].source.is_in_doaj | False |
| locations[2].source.display_name | DOAJ (DOAJ: Directory of Open Access Journals) |
| locations[2].source.host_organization | |
| locations[2].source.host_organization_name | |
| locations[2].license | |
| locations[2].pdf_url | |
| locations[2].version | submittedVersion |
| locations[2].raw_type | article |
| locations[2].license_id | |
| locations[2].is_accepted | False |
| locations[2].is_published | False |
| locations[2].raw_source_name | Cyborg and Bionic Systems, Vol 6 (2025) |
| locations[2].landing_page_url | https://doaj.org/article/dd02fb648baf42a7aa7e20403a906f55 |
| locations[3].id | pmh:oai:europepmc.org:10807313 |
| locations[3].is_oa | True |
| locations[3].source.id | https://openalex.org/S4306400806 |
| locations[3].source.issn | |
| locations[3].source.type | repository |
| locations[3].source.is_oa | False |
| locations[3].source.issn_l | |
| locations[3].source.is_core | False |
| locations[3].source.is_in_doaj | False |
| locations[3].source.display_name | Europe PMC (PubMed Central) |
| locations[3].source.host_organization | https://openalex.org/I1303153112 |
| locations[3].source.host_organization_name | European Bioinformatics Institute |
| locations[3].source.host_organization_lineage | https://openalex.org/I1303153112 |
| locations[3].license | cc-by |
| locations[3].pdf_url | |
| locations[3].version | submittedVersion |
| locations[3].raw_type | Text |
| locations[3].license_id | https://openalex.org/licenses/cc-by |
| locations[3].is_accepted | False |
| locations[3].is_published | False |
| locations[3].raw_source_name | |
| locations[3].landing_page_url | https://www.ncbi.nlm.nih.gov/pmc/articles/11994881 |
| indexed_in | crossref, doaj, pubmed |
| authorships[0].author.id | https://openalex.org/A5101277128 |
| authorships[0].author.orcid | |
| authorships[0].author.display_name | Xian He |
| authorships[0].countries | CN |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I16365422 |
| authorships[0].affiliations[0].raw_affiliation_string | School of Management, Hefei University of Technology, Hefei, China. |
| authorships[0].affiliations[1].institution_ids | https://openalex.org/I16365422 |
| authorships[0].affiliations[1].raw_affiliation_string | Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China. |
| authorships[0].institutions[0].id | https://openalex.org/I16365422 |
| authorships[0].institutions[0].ror | https://ror.org/02czkny70 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I16365422 |
| authorships[0].institutions[0].country_code | CN |
| authorships[0].institutions[0].display_name | Hefei University of Technology |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Xian He |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China., School of Management, Hefei University of Technology, Hefei, China. |
| authorships[1].author.id | https://openalex.org/A5100328879 |
| authorships[1].author.orcid | https://orcid.org/0000-0002-4375-4967 |
| authorships[1].author.display_name | Shuai Zhang |
| authorships[1].countries | CN |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I16365422 |
| authorships[1].affiliations[0].raw_affiliation_string | Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China. |
| authorships[1].affiliations[1].institution_ids | https://openalex.org/I16365422 |
| authorships[1].affiliations[1].raw_affiliation_string | School of Management, Hefei University of Technology, Hefei, China. |
| authorships[1].affiliations[2].raw_affiliation_string | CHINA |
| authorships[1].institutions[0].id | https://openalex.org/I16365422 |
| authorships[1].institutions[0].ror | https://ror.org/02czkny70 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I16365422 |
| authorships[1].institutions[0].country_code | CN |
| authorships[1].institutions[0].display_name | Hefei University of Technology |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Shuai Zhang |
| authorships[1].is_corresponding | False |
| authorships[1].raw_affiliation_strings | CHINA, Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China., School of Management, Hefei University of Technology, Hefei, China. |
| authorships[2].author.id | https://openalex.org/A5001657537 |
| authorships[2].author.orcid | https://orcid.org/0000-0003-1404-1834 |
| authorships[2].author.display_name | Jian Chu |
| authorships[2].countries | CN |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I16365422 |
| authorships[2].affiliations[0].raw_affiliation_string | School of Management, Hefei University of Technology, Hefei, China. |
| authorships[2].affiliations[1].institution_ids | https://openalex.org/I16365422 |
| authorships[2].affiliations[1].raw_affiliation_string | Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China. |
| authorships[2].institutions[0].id | https://openalex.org/I16365422 |
| authorships[2].institutions[0].ror | https://ror.org/02czkny70 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I16365422 |
| authorships[2].institutions[0].country_code | CN |
| authorships[2].institutions[0].display_name | Hefei University of Technology |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Jian Chu |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China., School of Management, Hefei University of Technology, Hefei, China. |
| authorships[3].author.id | https://openalex.org/A5057352916 |
| authorships[3].author.orcid | https://orcid.org/0000-0003-3332-0740 |
| authorships[3].author.display_name | Tongyu Jia |
| authorships[3].countries | CN |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I2802939634 |
| authorships[3].affiliations[0].raw_affiliation_string | Faculty of Urology, Third Medical Center, Chinese PLA General Hospital |
| authorships[3].institutions[0].id | https://openalex.org/I2802939634 |
| authorships[3].institutions[0].ror | https://ror.org/04gw3ra78 |
| authorships[3].institutions[0].type | healthcare |
| authorships[3].institutions[0].lineage | https://openalex.org/I2802939634 |
| authorships[3].institutions[0].country_code | CN |
| authorships[3].institutions[0].display_name | Chinese PLA General Hospital |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Tongyu Jia |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | Faculty of Urology, Third Medical Center, Chinese PLA General Hospital |
| authorships[4].author.id | https://openalex.org/A5068559249 |
| authorships[4].author.orcid | https://orcid.org/0000-0003-0569-952X |
| authorships[4].author.display_name | Lantao Yu |
| authorships[4].affiliations[0].raw_affiliation_string | Independent Researcher |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Lantao Yu |
| authorships[4].is_corresponding | False |
| authorships[4].raw_affiliation_strings | Independent Researcher |
| authorships[5].author.id | https://openalex.org/A5100750380 |
| authorships[5].author.orcid | https://orcid.org/0000-0001-7357-0096 |
| authorships[5].author.display_name | Bo Ouyang |
| authorships[5].countries | CN |
| authorships[5].affiliations[0].raw_affiliation_string | CHINA |
| authorships[5].affiliations[1].institution_ids | https://openalex.org/I16365422 |
| authorships[5].affiliations[1].raw_affiliation_string | Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China. |
| authorships[5].affiliations[2].institution_ids | https://openalex.org/I16365422 |
| authorships[5].affiliations[2].raw_affiliation_string | School of Management, Hefei University of Technology, Hefei, China. |
| authorships[5].institutions[0].id | https://openalex.org/I16365422 |
| authorships[5].institutions[0].ror | https://ror.org/02czkny70 |
| authorships[5].institutions[0].type | education |
| authorships[5].institutions[0].lineage | https://openalex.org/I16365422 |
| authorships[5].institutions[0].country_code | CN |
| authorships[5].institutions[0].display_name | Hefei University of Technology |
| authorships[5].author_position | last |
| authorships[5].raw_author_name | Bo Ouyang |
| authorships[5].is_corresponding | False |
| authorships[5].raw_affiliation_strings | CHINA, Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China., School of Management, Hefei University of Technology, Hefei, China. |
| has_content.pdf | False |
| has_content.grobid_xml | False |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://doi.org/10.34133/cbsystems.0114 |
| open_access.oa_status | diamond |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Intuition-guided Reinforcement Learning for Soft Tissue Manipulation with Unknown Constraints |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10868 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9945999979972839 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2204 |
| primary_topic.subfield.display_name | Biomedical Engineering |
| primary_topic.display_name | Soft Robotics and Applications |
| related_works | https://openalex.org/W4310083477, https://openalex.org/W2328553770, https://openalex.org/W2920061524, https://openalex.org/W1977959518, https://openalex.org/W2038908348, https://openalex.org/W2107890255, https://openalex.org/W2106552856, https://openalex.org/W2145821588, https://openalex.org/W2086122291, https://openalex.org/W1987513656 |
| cited_by_count | 1 |
| counts_by_year[0].year | 2025 |
| counts_by_year[0].cited_by_count | 1 |
| locations_count | 4 |
| best_oa_location.id | doi:10.34133/cbsystems.0114 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4210209220 |
| best_oa_location.source.issn | 2097-1087, 2692-7632 |
| best_oa_location.source.type | journal |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | 2097-1087 |
| best_oa_location.source.is_core | True |
| best_oa_location.source.is_in_doaj | True |
| best_oa_location.source.display_name | Cyborg and Bionic Systems |
| best_oa_location.source.host_organization | https://openalex.org/P4310315823 |
| best_oa_location.source.host_organization_name | American Association for the Advancement of Science |
| best_oa_location.source.host_organization_lineage | https://openalex.org/P4310315823 |
| best_oa_location.source.host_organization_lineage_names | American Association for the Advancement of Science |
| best_oa_location.license | cc-by |
| best_oa_location.pdf_url | |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | journal-article |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | Cyborg and Bionic Systems |
| best_oa_location.landing_page_url | https://doi.org/10.34133/cbsystems.0114 |
| primary_location.id | doi:10.34133/cbsystems.0114 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4210209220 |
| primary_location.source.issn | 2097-1087, 2692-7632 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | 2097-1087 |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | True |
| primary_location.source.display_name | Cyborg and Bionic Systems |
| primary_location.source.host_organization | https://openalex.org/P4310315823 |
| primary_location.source.host_organization_name | American Association for the Advancement of Science |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310315823 |
| primary_location.source.host_organization_lineage_names | American Association for the Advancement of Science |
| primary_location.license | cc-by |
| primary_location.pdf_url | |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | https://openalex.org/licenses/cc-by |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | Cyborg and Bionic Systems |
| primary_location.landing_page_url | https://doi.org/10.34133/cbsystems.0114 |
| publication_date | 2024-03-27 |
| publication_year | 2024 |
| referenced_works | https://openalex.org/W3211763588, https://openalex.org/W2346178339, https://openalex.org/W4210656949, https://openalex.org/W3103266692, https://openalex.org/W1986953096, https://openalex.org/W4319996462, https://openalex.org/W3105730811, https://openalex.org/W2908691316, https://openalex.org/W2005503440, https://openalex.org/W2126264167, https://openalex.org/W2109215595, https://openalex.org/W2322971354, https://openalex.org/W2963265239, https://openalex.org/W2981030070, https://openalex.org/W3093953259, https://openalex.org/W2904453761, https://openalex.org/W2988109220, https://openalex.org/W6796075181, https://openalex.org/W3134753181, https://openalex.org/W2781726626, https://openalex.org/W2904246096, https://openalex.org/W2145339207, https://openalex.org/W6683433371, https://openalex.org/W2146990154, https://openalex.org/W2073694979, https://openalex.org/W2083088729, https://openalex.org/W1967579238, https://openalex.org/W2082820542, https://openalex.org/W2085944939, https://openalex.org/W2743299392, https://openalex.org/W4205603020, https://openalex.org/W2160821342, https://openalex.org/W2998396902 |
| referenced_works_count | 33 |
| abstract_inverted_index.A | 121, 141 |
| abstract_inverted_index.a | 5 |
| abstract_inverted_index.IM | 135 |
| abstract_inverted_index.To | 64 |
| abstract_inverted_index.an | 68, 96, 127, 158 |
| abstract_inverted_index.as | 126 |
| abstract_inverted_index.be | 43, 50 |
| abstract_inverted_index.by | 224 |
| abstract_inverted_index.in | 8, 15 |
| abstract_inverted_index.is | 4, 91, 105, 119, 124, 144 |
| abstract_inverted_index.no | 58 |
| abstract_inverted_index.of | 152, 170 |
| abstract_inverted_index.on | 75 |
| abstract_inverted_index.to | 26, 49, 107, 132, 146, 165 |
| abstract_inverted_index.we | 156 |
| abstract_inverted_index.SAC | 89, 139, 210 |
| abstract_inverted_index.The | 45, 88 |
| abstract_inverted_index.and | 38, 55, 98, 137, 150, 183, 202 |
| abstract_inverted_index.can | 175, 194, 215 |
| abstract_inverted_index.for | 81 |
| abstract_inverted_index.new | 204 |
| abstract_inverted_index.the | 13, 19, 33, 39, 53, 61, 99, 112, 117, 134, 138, 148, 167, 177, 191, 196, 209, 212, 218, 227 |
| abstract_inverted_index.was | 36, 79 |
| abstract_inverted_index.(IM) | 103 |
| abstract_inverted_index.deep | 70 |
| abstract_inverted_index.pull | 108 |
| abstract_inverted_index.soft | 1, 21, 62, 76, 82, 109, 197, 220 |
| abstract_inverted_index.that | 190 |
| abstract_inverted_index.they | 174 |
| abstract_inverted_index.this | 130 |
| abstract_inverted_index.upon | 94 |
| abstract_inverted_index.used | 106 |
| abstract_inverted_index.vivo | 16 |
| abstract_inverted_index.were | 47, 57 |
| abstract_inverted_index.when | 116 |
| abstract_inverted_index.with | 208 |
| abstract_inverted_index.based | 74 |
| abstract_inverted_index.could | 42 |
| abstract_inverted_index.grasp | 160, 171 |
| abstract_inverted_index.known | 37 |
| abstract_inverted_index.large | 153 |
| abstract_inverted_index.point | 35, 161 |
| abstract_inverted_index.poses | 23 |
| abstract_inverted_index.reach | 176 |
| abstract_inverted_index.shape | 114 |
| abstract_inverted_index.there | 56 |
| abstract_inverted_index.these | 66 |
| abstract_inverted_index.under | 85 |
| abstract_inverted_index.while | 179, 199 |
| abstract_inverted_index.action | 128 |
| abstract_inverted_index.adding | 203 |
| abstract_inverted_index.areas. | 185 |
| abstract_inverted_index.around | 60 |
| abstract_inverted_index.during | 52 |
| abstract_inverted_index.factor | 123 |
| abstract_inverted_index.neural | 163 |
| abstract_inverted_index.reward | 142 |
| abstract_inverted_index.target | 20, 40, 113, 178 |
| abstract_inverted_index.tissue | 2, 83, 198, 221 |
| abstract_inverted_index.toward | 111 |
| abstract_inverted_index.within | 129 |
| abstract_inverted_index.ability | 223 |
| abstract_inverted_index.address | 65 |
| abstract_inverted_index.assumed | 32, 48 |
| abstract_inverted_index.balance | 147 |
| abstract_inverted_index.lesions | 182 |
| abstract_inverted_index.network | 164 |
| abstract_inverted_index.points, | 172 |
| abstract_inverted_index.prevent | 166 |
| abstract_inverted_index.results | 188 |
| abstract_inverted_index.robotic | 10, 28, 219 |
| abstract_inverted_index.studies | 31 |
| abstract_inverted_index.tissue. | 63 |
| abstract_inverted_index.tissues | 22, 110 |
| abstract_inverted_index.unknown | 86 |
| abstract_inverted_index.(ID-SAC) | 78 |
| abstract_inverted_index.Compared | 207 |
| abstract_inverted_index.Previous | 30 |
| abstract_inverted_index.approach | 136 |
| abstract_inverted_index.avoiding | 180, 200 |
| abstract_inverted_index.constant | 51 |
| abstract_inverted_index.critical | 6 |
| abstract_inverted_index.designed | 100, 125, 145 |
| abstract_inverted_index.directly | 115 |
| abstract_inverted_index.distant. | 120 |
| abstract_inverted_index.ensuring | 173 |
| abstract_inverted_index.factors. | 229 |
| abstract_inverted_index.function | 143 |
| abstract_inverted_index.grasping | 34, 181 |
| abstract_inverted_index.increase | 217 |
| abstract_inverted_index.learning | 72 |
| abstract_inverted_index.markedly | 216 |
| abstract_inverted_index.network. | 140 |
| abstract_inverted_index.obstacle | 118 |
| abstract_inverted_index.proposed | 80, 157, 192, 213 |
| abstract_inverted_index.strategy | 104 |
| abstract_inverted_index.surgery. | 11 |
| abstract_inverted_index.achieved. | 44 |
| abstract_inverted_index.activated | 93 |
| abstract_inverted_index.adjusting | 226 |
| abstract_inverted_index.algorithm | 90 |
| abstract_inverted_index.challenge | 7 |
| abstract_inverted_index.confirmed | 189 |
| abstract_inverted_index.framework | 73, 131, 193, 214 |
| abstract_inverted_index.intricate | 14 |
| abstract_inverted_index.intuitive | 101 |
| abstract_inverted_index.obstacle, | 97 |
| abstract_inverted_index.obstacles | 59, 201 |
| abstract_inverted_index.problems, | 67 |
| abstract_inverted_index.regulator | 122, 228 |
| abstract_inverted_index.selection | 162, 169 |
| abstract_inverted_index.Successful | 186 |
| abstract_inverted_index.additional | 24 |
| abstract_inverted_index.algorithm, | 211 |
| abstract_inverted_index.autonomous | 9, 27, 159 |
| abstract_inverted_index.coordinate | 133 |
| abstract_inverted_index.hindrances | 25 |
| abstract_inverted_index.manipulate | 195 |
| abstract_inverted_index.operation, | 54 |
| abstract_inverted_index.positional | 205 |
| abstract_inverted_index.simulation | 187 |
| abstract_inverted_index.constrained | 184 |
| abstract_inverted_index.constraints | 46 |
| abstract_inverted_index.deformation | 41 |
| abstract_inverted_index.environment | 17 |
| abstract_inverted_index.exploration | 149 |
| abstract_inverted_index.impractical | 168 |
| abstract_inverted_index.surrounding | 18 |
| abstract_inverted_index.Furthermore, | 12 |
| abstract_inverted_index.actor-critic | 77 |
| abstract_inverted_index.constraints. | 87, 206 |
| abstract_inverted_index.encountering | 95 |
| abstract_inverted_index.exploitation | 151 |
| abstract_inverted_index.manipulation | 3, 84, 102, 222 |
| abstract_inverted_index.automatically | 92, 225 |
| abstract_inverted_index.deformations. | 154 |
| abstract_inverted_index.reinforcement | 71 |
| abstract_inverted_index.Intraoperative | 0 |
| abstract_inverted_index.Simultaneously, | 155 |
| abstract_inverted_index.decision-making. | 29 |
| abstract_inverted_index.intuition-guided | 69 |
| cited_by_percentile_year.max | 95 |
| cited_by_percentile_year.min | 91 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 6 |
| citation_normalized_percentile.value | 0.47837663 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |