{"id":"https://openalex.org/W2750631037","doi":"https://doi.org/10.1109/aim.2017.8014053","title":"3D printing of smart materials for robotics with variable stiffness and position feedback","display_name":"3D printing of smart materials for robotics with variable stiffness and position feedback","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2750631037","doi":"https://doi.org/10.1109/aim.2017.8014053","mag":"2750631037"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040102350","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-6216-7437"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100757196","display_name":"Yonghua Chen","orcid":"https://orcid.org/0000-0003-4020-1977"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yonghua Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":3.5327,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.92896814,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"418","last_page":"423"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9976999759674072,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9959999918937683,"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/thermoplastic-polyurethane","display_name":"Thermoplastic polyurethane","score":0.7361956238746643},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6685436964035034},{"id":"https://openalex.org/keywords/shape-memory-polymer","display_name":"Shape-memory polymer","score":0.6488795280456543},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.626342236995697},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5789462327957153},{"id":"https://openalex.org/keywords/electrical-conductor","display_name":"Electrical conductor","score":0.5624947547912598},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5489627718925476},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.520786464214325},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5150516033172607},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.490401029586792},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.47972267866134644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46311938762664795},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.4213811457157135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3565858006477356},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.32439881563186646},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3016079068183899},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23762917518615723},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.21956783533096313},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.16626647114753723},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0979759693145752}],"concepts":[{"id":"https://openalex.org/C2777069470","wikidata":"https://www.wikidata.org/wiki/Q7783228","display_name":"Thermoplastic polyurethane","level":3,"score":0.7361956238746643},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6685436964035034},{"id":"https://openalex.org/C185698529","wikidata":"https://www.wikidata.org/wiki/Q906777","display_name":"Shape-memory polymer","level":3,"score":0.6488795280456543},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.626342236995697},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5789462327957153},{"id":"https://openalex.org/C202374169","wikidata":"https://www.wikidata.org/wiki/Q124291","display_name":"Electrical conductor","level":2,"score":0.5624947547912598},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5489627718925476},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.520786464214325},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5150516033172607},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.490401029586792},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.47972267866134644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46311938762664795},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.4213811457157135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3565858006477356},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.32439881563186646},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3016079068183899},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23762917518615723},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.21956783533096313},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.16626647114753723},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0979759693145752},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1517588719","https://openalex.org/W1698466078","https://openalex.org/W1826399803","https://openalex.org/W1868607027","https://openalex.org/W2007924815","https://openalex.org/W2041186773","https://openalex.org/W2071044419","https://openalex.org/W2074535625","https://openalex.org/W2134639419","https://openalex.org/W2156218502","https://openalex.org/W2166585449","https://openalex.org/W2183846737","https://openalex.org/W2270156953","https://openalex.org/W2330314095","https://openalex.org/W2412969968","https://openalex.org/W2413007733","https://openalex.org/W2413403048","https://openalex.org/W2414388112","https://openalex.org/W2514318235","https://openalex.org/W2592463846","https://openalex.org/W4251181231","https://openalex.org/W4255466541","https://openalex.org/W6715356784","https://openalex.org/W6734021580"],"related_works":["https://openalex.org/W2016798363","https://openalex.org/W2062677871","https://openalex.org/W3118360419","https://openalex.org/W2003043540","https://openalex.org/W2070037256","https://openalex.org/W2082646976","https://openalex.org/W2019589958","https://openalex.org/W4221105693","https://openalex.org/W2082387010","https://openalex.org/W4308036873"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,30,79,89],"novel":[4],"soft":[5,39],"robotic":[6,135],"design":[7,19,136],"that":[8],"possesses":[9],"variable":[10,72,120],"stiffness":[11,92,121],"and":[12,50,119],"position":[13,116],"feedback.":[14],"A":[15,125],"gripper":[16,26,126],"adopting":[17],"this":[18],"is":[20,27,93,127],"presented.":[21],"Each":[22],"finger":[23,69],"in":[24],"the":[25,68,86,96,99,106,114],"based":[28],"on":[29],"3D":[31],"printed":[32],"substrate":[33,100],"(driven":[34],"by":[35],"an":[36],"air":[37],"actuated":[38],"actuator)":[40],"composed":[41],"of":[42,58,91,98],"two":[43],"smart":[44],"materials:":[45],"shape":[46],"memory":[47],"polymer":[48],"(SMP)":[49],"conductive":[51,75,107],"thermoplastic":[52],"polyurethane":[53],"(TPU).":[54],"SMP's":[55],"dramatic":[56],"change":[57],"elastic":[59],"modulus":[60],"around":[61],"its":[62],"glass":[63],"transition":[64],"temperature":[65],"(Tg)":[66],"enables":[67],"to":[70,81,105,129],"have":[71],"stiffness.":[73],"The":[74,133],"TPU":[76],"acts":[77],"as":[78,142],"heater":[80],"provide":[82],"Joule":[83],"heating":[84],"for":[85],"SMP":[87],"when":[88],"weakening":[90],"needed.":[94],"Furthermore,":[95],"deflection":[97],"can":[101],"be":[102],"estimated":[103],"due":[104],"TPU's":[108],"inherent":[109],"piezo-resistive":[110],"effect.":[111],"Experiments":[112],"regarding":[113],"finger's":[115],"estimation":[117],"capability":[118],"property":[122],"are":[123],"conducted.":[124],"fabricated":[128],"perform":[130],"grasping":[131],"demonstration.":[132],"proposed":[134],"has":[137],"other":[138],"potential":[139],"applications":[140],"such":[141],"metamorphic":[143],"legged":[144],"robots.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
