{"id":"https://openalex.org/W2413403048","doi":"https://doi.org/10.1109/icra.2016.7487703","title":"A composite soft bending actuation module with integrated curvature sensing","display_name":"A composite soft bending actuation module with integrated curvature sensing","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413403048","doi":"https://doi.org/10.1109/icra.2016.7487703","mag":"2413403048"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5039286439","display_name":"Selim \u00d6zel","orcid":"https://orcid.org/0000-0002-6044-2869"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Selim Ozel","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068730616","display_name":"Erik H. Skorina","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erik H. Skorina","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101499106","display_name":"Ming Luo","orcid":"https://orcid.org/0000-0001-7916-7062"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming Luo","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027179986","display_name":"Weijia Tao","orcid":"https://orcid.org/0009-0005-3942-4817"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weijia Tao","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033662114","display_name":"Fu\u2010Chen Chen","orcid":"https://orcid.org/0000-0002-6396-2798"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fuchen Chen","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089053478","display_name":"Yixiao Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yixiao Pan","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074479492","display_name":"\u00c7a\u011fda\u015f D. \u00d6nal","orcid":"https://orcid.org/0000-0002-3307-1273"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cagdas D. Onal","raw_affiliation_strings":["Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department and Robotics Engineering Program, Worcester Polytechnic Institute, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.9514,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.96620393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4963","last_page":"4968"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9973999857902527,"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/T11486","display_name":"Micro and Nano Robotics","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7168601751327515},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5578476190567017},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5152323842048645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47517555952072144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4671691656112671},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43433430790901184},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.43415015935897827},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.43342190980911255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36849847435951233},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3673274517059326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.272604763507843},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11963966488838196}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7168601751327515},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5578476190567017},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5152323842048645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47517555952072144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4671691656112671},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43433430790901184},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.43415015935897827},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.43342190980911255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36849847435951233},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3673274517059326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.272604763507843},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11963966488838196},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W49088226","https://openalex.org/W1227556793","https://openalex.org/W1608215728","https://openalex.org/W1969107377","https://openalex.org/W1976779489","https://openalex.org/W1987862454","https://openalex.org/W1990953452","https://openalex.org/W2012187602","https://openalex.org/W2019797482","https://openalex.org/W2025613329","https://openalex.org/W2036590946","https://openalex.org/W2037867075","https://openalex.org/W2060622965","https://openalex.org/W2074207981","https://openalex.org/W2079950637","https://openalex.org/W2141905643","https://openalex.org/W2154104679","https://openalex.org/W2197206997","https://openalex.org/W2220495251","https://openalex.org/W4244367163","https://openalex.org/W6687483012"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2123055169","https://openalex.org/W2773810465","https://openalex.org/W1978574942","https://openalex.org/W2156622794","https://openalex.org/W2061360313","https://openalex.org/W4224212509","https://openalex.org/W3028163505","https://openalex.org/W1502247793"],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"carries":[2],"the":[3,22,43,76,112,120,123,129,132,138,147,174,182],"promise":[4],"of":[5,45,64,83,122,131,171,181,221],"making":[6],"robots":[7],"as":[8,12,125,127],"capable":[9],"and":[10,27,31,59,75,87,96,153,203,205,218],"adaptable":[11],"biological":[13],"creatures,":[14],"but":[15,143,159],"this":[16,34,40,65,169],"will":[17],"not":[18,161],"be":[19,199],"possible":[20],"without":[21],"ability":[23],"to":[24,38,94,110,118,157,185],"perform":[25],"self-sensing":[26],"control":[28,180,220],"with":[29,42,53,68,78,201],"precision":[30],"repeatability.":[32],"In":[33,101],"paper,":[35],"we":[36,103],"seek":[37],"address":[39],"need":[41],"development":[44],"a":[46,69,79],"new":[47],"pneumatically-actuated":[48],"soft":[49,195,222],"bending":[50,183,196],"actuation":[51],"module":[52],"integrated":[54],"curvature":[55,81,116,209],"sensing.":[56],"We":[57,135],"designed":[58],"fabricated":[60],"two":[61,99,133],"different":[62],"versions":[63],"module:":[66],"One":[67],"commercially":[70],"available":[71],"resistive":[72],"flex":[73,148,175],"sensor":[74,82,140,149,176,210],"other":[77],"magnetic":[80,139,208],"our":[84,194,207],"own":[85],"design,":[86],"used":[88,104],"an":[89,105,212],"external":[90],"motion":[91],"capture":[92],"system":[93],"calibrate":[95],"validate":[97],"these":[98],"approaches.":[100],"addition,":[102],"iterative":[106],"sliding":[107],"mode":[108],"controller":[109],"drive":[111],"modules":[113,124],"through":[114],"step":[115],"references":[117],"demonstrate":[119],"controllability":[121],"well":[126],"compare":[128],"usability":[130],"sensors.":[134],"found":[136],"that":[137,168,193,206],"returned":[141],"noisy":[142],"accurate":[144],"data,":[145],"while":[146],"had":[150],"minor":[151],"inaccuracies":[152],"it":[154],"was":[155],"subject":[156],"overshoot":[158,172],"did":[160],"exhibit":[162,186],"notable":[163],"noise.":[164],"Experimental":[165],"results":[166],"show":[167],"phenomenon":[170],"from":[173],"causes":[177],"active":[178],"feedback":[179],"actuator":[184,197],"significant":[187],"positioning":[188],"errors.":[189],"This":[190],"work":[191],"demonstrates":[192],"can":[198],"controlled":[200],"repeatability":[202],"precision,":[204],"represents":[211],"improvement":[213],"for":[214],"use":[215],"in":[216],"proprioception":[217],"closed-loop":[219],"robotic":[223],"devices.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}