{"id":"https://openalex.org/W7224340549","doi":"https://doi.org/10.1016/j.xcrp.2026.103625","title":"Ionic hydrogel sensors for low-latency high-accuracy 3D reconstruction of soft robotic endoscope","display_name":"Ionic hydrogel sensors for low-latency high-accuracy 3D reconstruction of soft robotic endoscope","publication_year":2026,"publication_date":"2026-10-29","ids":{"openalex":"https://openalex.org/W7224340549","doi":"https://doi.org/10.1016/j.xcrp.2026.103625"},"language":"en","primary_location":{"id":"doi:10.1016/j.xcrp.2026.103625","doi":"https://doi.org/10.1016/j.xcrp.2026.103625","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.xcrp.2026.103625","pdf_url":null,"source":{"id":"https://openalex.org/S4210216867","display_name":"Cell Reports Physical Science","issn_l":"2666-3864","issn":["2666-3864"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-b","jufo-1","ki-jl-1","norway-1","oarl","poland-20"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cell Reports Physical Science","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1016/j.xcrp.2026.103625","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136100123","display_name":"Shuhang L Chen","orcid":"https://orcid.org/0009-0004-1088-6869","observed_orcids":["https://orcid.org/0009-0004-1088-6869"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Shuhang Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK"],"raw_orcid":"https://orcid.org/0009-0004-1088-6869","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028796661","display_name":"Jialei Shi","orcid":"https://orcid.org/0000-0001-7168-492X","observed_orcids":["https://orcid.org/0000-0001-7168-492X"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jialei Shi","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"raw_orcid":"https://orcid.org/0000-0001-7168-492X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043892555","display_name":"Libaihe Tian","orcid":"https://orcid.org/0000-0003-3734-4969","observed_orcids":["https://orcid.org/0000-0003-3734-4969"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Libaihe Tian","raw_affiliation_strings":["Department of Metabolism, Digestion and Reproduction, Imperial College London, London, UK"],"raw_orcid":"https://orcid.org/0000-0003-3734-4969","affiliations":[{"raw_affiliation_string":"Department of Metabolism, Digestion and Reproduction, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5156395480","display_name":"Ferdinando Rodriguez Y. Baena","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez y Baena","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056030430","display_name":"Jang Ah Kim","orcid":"https://orcid.org/0000-0002-8569-5512","observed_orcids":["https://orcid.org/0000-0002-8569-5512"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jang Ah Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK"],"raw_orcid":"https://orcid.org/0000-0002-8569-5512","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"The Hamlyn Centre for Robotic Surgery, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058749378","display_name":"Daniele Dini","orcid":"https://orcid.org/0000-0002-5518-499X","observed_orcids":["https://orcid.org/0000-0002-5518-499X"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Daniele Dini","raw_affiliation_strings":["Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5056030430","https://openalex.org/A5058749378","https://openalex.org/A5136100123"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":{"value":5620,"currency":"USD","value_usd":5620},"apc_paid":{"value":5620,"currency":"USD","value_usd":5620},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.72454281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"11","first_page":"103625","last_page":"103625"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.007899999618530273,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.0034000000450760126,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/shape-sensing","display_name":"shape sensing","score":0.6909999847412109},{"id":"https://openalex.org/keywords/3d-shape-reconstruction","display_name":"3D shape reconstruction","score":0.9279999732971191},{"id":"https://openalex.org/keywords/strain-sensors","display_name":"strain sensors","score":0.7319999933242798},{"id":"https://openalex.org/keywords/nacl-concentration","display_name":"NaCl concentration","score":0.7540000081062317},{"id":"https://openalex.org/keywords/pneumatic-actuators","display_name":"pneumatic actuators","score":0.9169999957084656},{"id":"https://openalex.org/keywords/time-delay-compensation","display_name":"time delay compensation","score":0.9509999752044678},{"id":"https://openalex.org/keywords/proprioception","display_name":"proprioception","score":0.8169999718666077},{"id":"https://openalex.org/keywords/minimally-invasive-surgery","display_name":"minimally invasive surgery","score":0.8809999823570251},{"id":"https://openalex.org/keywords/soft-sensing","display_name":"soft sensing","score":0.48100000619888306}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6960999965667725},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.551800012588501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4424999952316284},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4343999922275543},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.4320000112056732},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.41100001335144043},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.3984000086784363},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.39239999651908875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3328999876976013},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3125999867916107},{"id":"https://openalex.org/C65424074","wikidata":"https://www.wikidata.org/wiki/Q2221605","display_name":"Soft landing","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C70958404","wikidata":"https://www.wikidata.org/wiki/Q7512728","display_name":"Signal reconstruction","level":4,"score":0.28029999136924744},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2777000069618225},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2687000036239624},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2630999982357025},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2581999897956848},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.2556999921798706}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/j.xcrp.2026.103625","doi":"https://doi.org/10.1016/j.xcrp.2026.103625","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.xcrp.2026.103625","pdf_url":null,"source":{"id":"https://openalex.org/S4210216867","display_name":"Cell Reports Physical Science","issn_l":"2666-3864","issn":["2666-3864"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-b","jufo-1","ki-jl-1","norway-1","oarl","poland-20"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cell Reports Physical Science","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7c49cf3bf69542d0a8176f7c7b30c73e","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/7c49cf3bf69542d0a8176f7c7b30c73e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cell Reports Physical Science, Vol 7, Iss 11, Pp 103625- (2026)","raw_type":"article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/144727","doi":null,"is_oa":true,"landing_page_url":"https://spiral.imperial.ac.uk/handle/10044/1/144727","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1016/j.xcrp.2026.103625","doi":"https://doi.org/10.1016/j.xcrp.2026.103625","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.xcrp.2026.103625","pdf_url":null,"source":{"id":"https://openalex.org/S4210216867","display_name":"Cell Reports Physical Science","issn_l":"2666-3864","issn":["2666-3864"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-b","jufo-1","ki-jl-1","norway-1","oarl","poland-20"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cell Reports Physical Science","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W2013681472","https://openalex.org/W2049078445","https://openalex.org/W2053614949","https://openalex.org/W2104410139","https://openalex.org/W2105901613","https://openalex.org/W2295380675","https://openalex.org/W2304492053","https://openalex.org/W2427807572","https://openalex.org/W2544641369","https://openalex.org/W2607662405","https://openalex.org/W2759691575","https://openalex.org/W2793518114","https://openalex.org/W2809351981","https://openalex.org/W2897782084","https://openalex.org/W2948104218","https://openalex.org/W2965005738","https://openalex.org/W2970010428","https://openalex.org/W2970045605","https://openalex.org/W3048822132","https://openalex.org/W3083544641","https://openalex.org/W3152617623","https://openalex.org/W3157380428","https://openalex.org/W3163212300","https://openalex.org/W3178723556","https://openalex.org/W3192766641","https://openalex.org/W3194352749","https://openalex.org/W3194607169","https://openalex.org/W3206304293","https://openalex.org/W3215190269","https://openalex.org/W4211108898","https://openalex.org/W4241320250","https://openalex.org/W4283261272","https://openalex.org/W4309553442","https://openalex.org/W4310713305","https://openalex.org/W4319302926","https://openalex.org/W4377194177","https://openalex.org/W4378516041","https://openalex.org/W4380740903","https://openalex.org/W4385655241","https://openalex.org/W4391019279","https://openalex.org/W4393134202","https://openalex.org/W4394883978","https://openalex.org/W4397031107","https://openalex.org/W4400460357","https://openalex.org/W4410696683","https://openalex.org/W4411268635","https://openalex.org/W4411285996","https://openalex.org/W4411457902","https://openalex.org/W4412939378","https://openalex.org/W4413969373","https://openalex.org/W4415002959","https://openalex.org/W4417487418","https://openalex.org/W7141850134"],"related_works":["https://openalex.org/W7154586757","https://openalex.org/W6968154778","https://openalex.org/W7164013818","https://openalex.org/W3192766641","https://openalex.org/W4413156497","https://openalex.org/W7204846592","https://openalex.org/W4416029780","https://openalex.org/W4410696683","https://openalex.org/W7163003998","https://openalex.org/W4360955117"],"abstract_inverted_index":{"Continuous":[0,102],"shape":[1,49,104],"sensing":[2,34,140],"remains":[3],"a":[4,52,90,109,113,133],"major":[5],"barrier":[6],"to":[7,124,138],"deploying":[8],"soft":[9,33,53,91],"robotic":[10],"endoscopes,":[11],"because":[12],"existing":[13],"solutions":[14],"often":[15],"compromise":[16],"structural":[17],"compliance,":[18],"require":[19],"expensive":[20],"instrumentation,":[21],"or":[22],"provide":[23],"only":[24],"limited":[25],"embedded":[26],"feedback.":[27],"Here,":[28],"we":[29],"report":[30],"an":[31,38],"integrated":[32,85],"system":[35],"based":[36],"on":[37],"array":[39],"of":[40,51,89,126],"ionic":[41],"hydrogel":[42],"strain":[43,63],"sensors,":[44],"enabling":[45],"low-latency,":[46],"high-accuracy":[47],"three-dimensional":[48,103],"reconstruction":[50,105],"endoscope":[54],"tip.":[55],"Optimization":[56],"across":[57],"NaCl":[58],"concentration,":[59],"applied":[60],"voltage,":[61],"and":[62,68,77,97,112],"rate":[64],"identifies":[65],"ideal":[66],"composition":[67],"operating":[69],"conditions":[70],"jointly":[71],"balancing":[72],"gauge":[73],"factor,":[74],"strain-rate":[75],"independence,":[76],"mechanical":[78],"robustness.":[79],"Three":[80],"optimized":[81],"sensors":[82],"are":[83],"then":[84],"around":[86],"the":[87,118,127],"circumference":[88],"pneumatic":[92],"actuator,":[93],"addressing":[94],"adhesion,":[95],"dehydration,":[96],"signal":[98],"stability":[99],"under":[100],"actuation.":[101],"is":[106],"achieved":[107],"using":[108],"Frenet-Serret-based":[110],"model,":[111],"simple":[114],"delay-compensation":[115],"strategy":[116],"reduces":[117],"relative":[119],"tip-position":[120],"error":[121],"from":[122],"10.08%":[123],"5.92%":[125],"actuator":[128],"arc":[129],"length.":[130],"This":[131],"offers":[132],"low-cost,":[134],"compliant,":[135],"disposable-compatible":[136],"route":[137],"proprioceptive":[139],"for":[141],"minimally":[142],"invasive":[143],"intervention.":[144]},"counts_by_year":[],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2026-10-30T00:00:00"}