Reducing Actuators in Soft Continuum Robots and Manipulators
Round 1
Reviewer 1 Report
This paper gives a method for reducing actuators in soft robots. However, there are three major issues to be resolved before acceptance.
1. The related references should be added to conclude the state-of-art on this topic.
For instance, Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables
2. In Figure 2, the bending bar keeps straight after attachment point 2. However, as shown in simulation results of Fig. 8, the bar should retain as certain curves not straight line in the analysis, which may cause some errors on the precision of the soft robot.
3. Physical experiments are required to verify the main conclusion.
Author Response
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Author Response File: 
Author Response.docx
Reviewer 2 Report
The idea it's great but the presentation lack sufficient scientific results. More research results needed.
Author Response
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Author Response File: Author Response.docx
Reviewer 3 Report
In order to improve the paper, the reviewer suggests the following corrections for the authors:
-on page 1, line 25, use comma between the references [4][5][6];
-on page 1, line 44, use comma between the references [11][12];
-on page 2, line 48, use comma between the references [13][14];
-on page 2, line 53, use comma between the references [15][16][17];
-on page 3, line 102, the title of the subchapter 2.1 is PMethodology Overview instead of Methodology Overview;
-on page 5, in the flowchart from Figure 4 the abreviation SCR&M is used, but the entire paper use the abreviation SCRaM for Soft continuum robots and manipulators;
-in reference [16] change S. AOSHIMA, T. TSUJIMURA, and T. YABUTA, with S. Aoshima, T. Tsujimura, and T. Yabuta.
Be aware at the influence of the friction force, which due to long term usage of the robot will cause wear on the tendons, you think this actuation method is applicable as a long term solution for an industrial robot?
Author Response
Please see the attachment.
Author Response File: Author Response.docx
Reviewer 4 Report
The paper's composition is coherent; the structure is logical and meets the goal of the paper. The title "Reducing Actuators in Soft Continuum Robots and Manipulators" puts well the paper's objective; it is clear and expresses the issue being assessed very well. The abstract is formulated adequately along with the true picture of the paper. All the tools and methods the author uses are reasonable and well described and adequately fit the problem being assessed to give the reliable results. Conclusions are related to the results presented before reflecting the assessed issue at a professional level. All the tables are complete and understandable. Authors use enough figures, equations and formulas featuring a great deal of data being processed hence adding a higher added value to the paper. However major revision would suffice to get the manuscript published in the journal. It is recommended that the authors make a relatively major revision, and the specific amendments to the text are as follows:
- In introduction to underline the added value, novelty, purpose along with the ways of application of the research results would be recommended.
- The goal explicitly stated within the Introduction clearly expressing the main problem and purpose of the paper and author's intention being assessed and discussed within the paper along with its clear and unambiguous formulation are required to be proposed. Please specify in the Introduction section the main question addressed by the research, its potential to be used in action and added value and the research gap along with the way it can be filled in by your research output. Please specify the originality and relevance of the topic in the field of Industry 4.0 and world and national economies and industry.
- The Discussion is recommended to be extended. Some kind of polemic discourse comparing the research outcomes with the literature overview part would be beneficial to be involved in Discussion.
- I recommend adding to the Conclusion section authors’ further research directions in more detail within this explored issue.
- In Conclusion section there could be provided some recommendations for practice based on the research outcomes as well as a final statement reflecting the assessed issue along with the way how the research results could be implemented in the practice bringing up any benefits and added value. The final research statements in Conclusion should be more supported by your evidence and arguments from your own research findings.
Author Response
Please see the attachment.
Author Response File: Author Response.docx
Round 2
Reviewer 2 Report
Minor text editing needed.
Author Response
Thank you for your comment.
Several corrections and improvements have been applied:
- The numbering of the sub-sections have been corrected for section 3.0.
- The last paragraph in section 3.2 was revised.
- The Introduction has been revised to improve clarity and readability.
Author Response File: Author Response.docx
Reviewer 4 Report
The revised paper titled “Reducing Actuators in Soft Continuum Robots and Manipulators“ intended to be published in Applied Sciences (ISSN 2076-3417) Journal meets all the requirements for a professional scientific journal. All the significant comments, recommendations and remarks of reviewers have been incorporated into the manuscript in a proper way giving the paper higher added value and professional features.
Author Response
Thank you for your comment. It is highly appreciated.
The Introduction was revised to provide better clarity and reader engagement.
Author Response File: Author Response.docx
