{"id":"https://openalex.org/W4387766243","doi":"https://doi.org/10.1002/aisy.202300394","title":"A Toolbox for Designing 3D\u2010Printing\u2010Ready Pneumatic Circuits for Controlling Soft Robots","display_name":"A Toolbox for Designing 3D\u2010Printing\u2010Ready Pneumatic Circuits for Controlling Soft Robots","publication_year":2023,"publication_date":"2023-10-18","ids":{"openalex":"https://openalex.org/W4387766243","doi":"https://doi.org/10.1002/aisy.202300394"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202300394","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300394","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300394","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300394","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047614061","display_name":"Sihan Wang","orcid":"https://orcid.org/0000-0002-2633-723X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Sihan Wang","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055205872","display_name":"Liang He","orcid":"https://orcid.org/0000-0002-4493-4660"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Liang He","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389461","display_name":"Yao Yao","orcid":"https://orcid.org/0009-0007-5472-2200"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yao Yao","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010526707","display_name":"Chenying Liu","orcid":"https://orcid.org/0000-0002-6946-727X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenying Liu","raw_affiliation_strings":["Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["GB","IT"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["DIMEC Department of Mechanics and Machine Design University of Genoa  16145 Genova Italy","Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","DIMEC Department of Mechanics and Machine Design, University of Genoa, 16145 Genova, Italy","Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK"],"affiliations":[{"raw_affiliation_string":"DIMEC Department of Mechanics and Machine Design University of Genoa  16145 Genova Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Engineering Science University of Oxford  Oxford OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"DIMEC Department of Mechanics and Machine Design, University of Genoa, 16145 Genova, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047614061"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":{"value":2750,"currency":"USD","value_usd":2750},"apc_paid":{"value":2750,"currency":"USD","value_usd":2750},"fwci":0.4322,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58088744,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"5","issue":"12","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.6595982909202576},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6303607821464539},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6296830177307129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6260707974433899},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5425291061401367},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.5357268452644348},{"id":"https://openalex.org/keywords/electronics","display_name":"Electronics","score":0.4658893644809723},{"id":"https://openalex.org/keywords/electronic-circuit","display_name":"Electronic circuit","score":0.45984068512916565},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4474409520626068},{"id":"https://openalex.org/keywords/solenoid-valve","display_name":"Solenoid valve","score":0.44130054116249084},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42634445428848267},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3903067708015442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3080887794494629},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.30590546131134033},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2790156900882721},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19571533799171448}],"concepts":[{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.6595982909202576},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6303607821464539},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6296830177307129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6260707974433899},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5425291061401367},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.5357268452644348},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.4658893644809723},{"id":"https://openalex.org/C134146338","wikidata":"https://www.wikidata.org/wiki/Q1815901","display_name":"Electronic circuit","level":2,"score":0.45984068512916565},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4474409520626068},{"id":"https://openalex.org/C2777112803","wikidata":"https://www.wikidata.org/wiki/Q1430621","display_name":"Solenoid valve","level":2,"score":0.44130054116249084},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42634445428848267},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3903067708015442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3080887794494629},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.30590546131134033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2790156900882721},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19571533799171448},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202300394","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300394","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300394","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8e14eb0cbfe64654a072d593ad924a31","is_oa":true,"landing_page_url":"https://doaj.org/article/8e14eb0cbfe64654a072d593ad924a31","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 5, Iss 12, Pp n/a-n/a (2023)","raw_type":"article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:7dc76abe-0545-46bc-a58d-e2d714117636","is_oa":true,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:7dc76abe-0545-46bc-a58d-e2d714117636","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Journal article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202300394","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300394","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300394","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3105706333","display_name":null,"funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6198381055","display_name":"From Sensing to Collaboration: Engineering, Exploring and Exploiting the Building Blocks of Embodied Intelligence - An EPSRC Programme Grant","funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387766243.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1984187759","https://openalex.org/W1991248211","https://openalex.org/W2055488506","https://openalex.org/W2069693306","https://openalex.org/W2330245166","https://openalex.org/W2411334977","https://openalex.org/W2508834047","https://openalex.org/W2515930553","https://openalex.org/W2738259110","https://openalex.org/W2791239448","https://openalex.org/W2890088732","https://openalex.org/W2924252827","https://openalex.org/W2954129390","https://openalex.org/W3021947263","https://openalex.org/W3023786610","https://openalex.org/W3035998621","https://openalex.org/W3129294316","https://openalex.org/W3169517138","https://openalex.org/W3182876518","https://openalex.org/W3203631196","https://openalex.org/W4210731752","https://openalex.org/W4210913434","https://openalex.org/W4211124276","https://openalex.org/W4224304318","https://openalex.org/W4225159518","https://openalex.org/W4226021502","https://openalex.org/W4226106767","https://openalex.org/W4284969832","https://openalex.org/W4292701961","https://openalex.org/W4297093909","https://openalex.org/W4308509041","https://openalex.org/W4318338134","https://openalex.org/W4366550650","https://openalex.org/W4376605656"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2068663075","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107"],"abstract_inverted_index":{"The":[0,63,99,153,172],"robotics":[1],"field":[2],"has":[3,160],"witnessed":[4],"a":[5,115,119,181,189],"rapid":[6],"increase":[7],"in":[8],"the":[9,102,135,143,156,177,186],"popularity":[10],"of":[11,28,118,155,188],"soft":[12,49,96,190],"pneumatic":[13,58,93,120,195],"robots":[14],"due":[15],"to":[16,19,179],"their":[17],"adaptability":[18],"unstructured":[20],"environments":[21],"and":[22,37,68,80,113,126,138,150,168],"safe":[23],"human\u2013robot":[24],"interaction.":[25],"However,":[26],"many":[27],"them":[29],"are":[30],"still":[31,60],"controlled":[32],"by":[33,132],"rigid":[34],"solenoid":[35],"valves":[36],"microcontrollers.":[38],"Recent":[39],"research":[40],"works":[41],"have":[42],"introduced":[43],"various":[44],"electronics\u2010free":[45],"computational":[46,182],"devices":[47],"for":[48,90,95],"robotic":[50,97,191],"applications.":[51,98],"Yet,":[52],"connecting":[53],"these":[54],"individual":[55],"components":[56],"into":[57],"circuits":[59,94],"remains":[61],"challenging.":[62],"manual":[64],"circuit":[65,74,121,183],"design,":[66],"fabrication,":[67],"piping":[69],"process":[70],"can":[71,123],"bring":[72],"inefficient":[73],"layout,":[75],"redundant":[76],"tubing,":[77],"unreliable":[78],"fittings,":[79],"potentially":[81],"human":[82],"mistakes.":[83],"This":[84,129],"work":[85,173],"presents":[86],"an":[87],"open\u2010source":[88],"toolbox":[89,100,178],"automatically":[91],"designing":[92],"takes":[101],"desired":[103],"computation":[104],"function":[105],"along":[106],"with":[107,163,193],"some":[108],"space":[109],"constraints":[110],"as":[111],"inputs,":[112],"generates":[114],"3D\u2010printable":[116],"file":[117],"that":[122,184],"be":[124],"fabricated":[125],"used":[127],"directly.":[128],"is":[130],"achieved":[131],"efficiently":[133],"positioning":[134],"logic":[136],"gates":[137],"air":[139],"channels":[140],"while":[141],"considering":[142],"workspace":[144],"constraints,":[145],"fabrication":[146],"limits,":[147],"material":[148],"cost,":[149],"system":[151],"complexity.":[152],"versatility":[154],"design":[157,180],"automation":[158],"algorithm":[159],"been":[161],"tested":[162],"two":[164],"different":[165,170],"truth":[166],"tables":[167],"six":[169],"workspaces.":[171],"also":[174],"showcases":[175],"utilizing":[176],"governs":[185],"movements":[187],"hand":[192],"four":[194],"actuators.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-15T05:59:14.812645","created_date":"2025-10-10T00:00:00"}
