{"id":"https://openalex.org/W1995797200","doi":"https://doi.org/10.1109/icra.2014.6907793","title":"Pouch Motors: Printable/inflatable soft actuators for robotics","display_name":"Pouch Motors: Printable/inflatable soft actuators for robotics","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1995797200","doi":"https://doi.org/10.1109/icra.2014.6907793","mag":"1995797200"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5059653874","display_name":"Ryuma Niiyama","orcid":"https://orcid.org/0000-0002-9072-8251"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryuma Niiyama","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["MIT CSAIL, Massachusetts Institute of Technology, Cambridge, MA, USA","MIT CSAIL, Massachusetts Institute of Technology, 32 Vassar Street, Cambridge MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I4405258931"]},{"raw_affiliation_string":"MIT CSAIL, Massachusetts Institute of Technology, 32 Vassar Street, Cambridge MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I4405258931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6332","last_page":"6337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/inflatable","display_name":"Inflatable","score":0.9313060641288757},{"id":"https://openalex.org/keywords/pouch","display_name":"Pouch","score":0.8139521479606628},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.771748960018158},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5739859938621521},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5643439888954163},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.503447949886322},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.49408748745918274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48385775089263916},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4699438214302063},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.4519044756889343},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.41566210985183716},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4125768542289734},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3900085985660553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3161490559577942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22434556484222412},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2190626561641693},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08956626057624817}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.9313060641288757},{"id":"https://openalex.org/C2780101441","wikidata":"https://www.wikidata.org/wiki/Q949930","display_name":"Pouch","level":2,"score":0.8139521479606628},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.771748960018158},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5739859938621521},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5643439888954163},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.503447949886322},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.49408748745918274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48385775089263916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4699438214302063},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.4519044756889343},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.41566210985183716},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4125768542289734},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3900085985660553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3161490559577942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22434556484222412},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2190626561641693},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08956626057624817},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W92981898","https://openalex.org/W211888945","https://openalex.org/W1493314354","https://openalex.org/W1609223620","https://openalex.org/W1872796570","https://openalex.org/W1980587781","https://openalex.org/W2006674054","https://openalex.org/W2015086944","https://openalex.org/W2080649296","https://openalex.org/W2121666081","https://openalex.org/W6603789109","https://openalex.org/W6608631664","https://openalex.org/W6651935259"],"related_works":["https://openalex.org/W3016330581","https://openalex.org/W3005638187","https://openalex.org/W3122235497","https://openalex.org/W4308122636","https://openalex.org/W3034720975","https://openalex.org/W4293056202","https://openalex.org/W3044860034","https://openalex.org/W4307832533","https://openalex.org/W2998841168","https://openalex.org/W1995797200"],"abstract_inverted_index":{"We":[0,49,83,96,112],"propose":[1],"a":[2,98,105,122,125,136],"new":[3],"family":[4],"of":[5,24,37,53,77,101],"fluidic":[6],"soft":[7],"actuators":[8,20,54,79],"called":[9],"Pouch":[10],"Motors.":[11],"The":[12,33],"pouch":[13,34,60,65,102,120],"motors":[14,103],"are":[15],"developed":[16,50,97],"to":[17],"create":[18],"printable":[19],"for":[21],"enhancing":[22],"mass-fabrication":[23],"robots":[25],"from":[26,55],"sheet":[27],"materials":[28],"using":[29,92,104],"easily":[30],"accessible":[31],"tools.":[32],"motor":[35,61],"consists":[36],"one":[38],"or":[39],"more":[40],"gas-tight":[41],"bladders":[42],"(called":[43],"pouches)":[44],"fabricated":[45,94],"by":[46],"heat":[47,106],"bonding.":[48],"two":[51],"types":[52],"inflatable":[56],"pouches:":[57],"the":[58,63,71,85],"linear":[59],"and":[62,74,131],"rotational":[64],"motor.":[66],"Our":[67],"theoretical":[68,86],"analysis":[69],"predicts":[70],"static":[72],"force-length":[73],"moment-angle":[75],"relationships":[76],"these":[78],"under":[80],"pressure":[81],"control.":[82],"compare":[84],"bounds":[87],"with":[88,118,128,135],"actual":[89],"results":[90],"achieved":[91],"several":[93],"devices.":[95],"fabrication":[99],"process":[100],"stamping":[107],"technique":[108],"that":[109],"allows":[110],"mass-manufacturing.":[111],"also":[113],"demonstrate":[114],"three":[115],"robot":[116,134],"bodies":[117],"embedded":[119],"motors:":[121],"parallel":[123],"gripper,":[124],"robotic":[126],"arm":[127],"antagonistic":[129],"actuation,":[130],"legged":[132],"walking":[133],"self-contained":[137],"miniature":[138],"pneumatic":[139],"system.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":12}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}