{"id":"https://openalex.org/W2592171368","doi":"https://doi.org/10.1109/iros.2017.8206525","title":"Soft pneumatic gelatin actuator for edible robotics","display_name":"Soft pneumatic gelatin actuator for edible robotics","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2592171368","doi":"https://doi.org/10.1109/iros.2017.8206525","mag":"2592171368"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/231350","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042623700","display_name":"Jun Shintake","orcid":"https://orcid.org/0000-0003-2442-2120"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jun Shintake","raw_affiliation_strings":["Laboratory of Intelligent Systems (LIS), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems (LIS), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055022722","display_name":"Harshal Sonar","orcid":"https://orcid.org/0000-0002-3370-5870"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Harshal Sonar","raw_affiliation_strings":["Reconfigurable Robotics Laboratory (RRL), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Laboratory (RRL), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008818135","display_name":"Yegor Piskarev","orcid":"https://orcid.org/0000-0001-9003-6792"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Egor Piskarev","raw_affiliation_strings":["Section of Mechanical Engineering, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Section of Mechanical Engineering, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025220023","display_name":"Jamie Paik","orcid":"https://orcid.org/0000-0003-3869-213X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jamie Paik","raw_affiliation_strings":["Reconfigurable Robotics Laboratory (RRL), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Laboratory (RRL), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Laboratory of Intelligent Systems (LIS), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems (LIS), \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5042623700"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":3.8045,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":{"value":0.93623542,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6221","last_page":"6226"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8913125395774841},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.8388746976852417},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6627804636955261},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.6574286818504333},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6194078922271729},{"id":"https://openalex.org/keywords/gelatin","display_name":"Gelatin","score":0.5863659977912903},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4945692718029022},{"id":"https://openalex.org/keywords/molding","display_name":"Molding (decorative)","score":0.48192405700683594},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.4790269434452057},{"id":"https://openalex.org/keywords/silicone","display_name":"Silicone","score":0.4680955708026886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4557558596134186},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45424920320510864},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4406243860721588},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.36154723167419434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2918684482574463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23068967461585999},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19518929719924927}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8913125395774841},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.8388746976852417},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6627804636955261},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.6574286818504333},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6194078922271729},{"id":"https://openalex.org/C2778823387","wikidata":"https://www.wikidata.org/wiki/Q179254","display_name":"Gelatin","level":2,"score":0.5863659977912903},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4945692718029022},{"id":"https://openalex.org/C67558686","wikidata":"https://www.wikidata.org/wiki/Q1770806","display_name":"Molding (decorative)","level":2,"score":0.48192405700683594},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.4790269434452057},{"id":"https://openalex.org/C2779769944","wikidata":"https://www.wikidata.org/wiki/Q146439","display_name":"Silicone","level":2,"score":0.4680955708026886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4557558596134186},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45424920320510864},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4406243860721588},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.36154723167419434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2918684482574463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23068967461585999},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19518929719924927},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2017.8206525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:231350","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/231350","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:231350","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/140973","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:231350","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/231350","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1589533632","https://openalex.org/W1982363323","https://openalex.org/W1984187759","https://openalex.org/W1985124115","https://openalex.org/W1994318714","https://openalex.org/W2025513892","https://openalex.org/W2054368180","https://openalex.org/W2054427316","https://openalex.org/W2057320318","https://openalex.org/W2060497105","https://openalex.org/W2069135858","https://openalex.org/W2071936006","https://openalex.org/W2127605415","https://openalex.org/W2151386142","https://openalex.org/W2156484121","https://openalex.org/W2162084537","https://openalex.org/W2167287337","https://openalex.org/W2167583743","https://openalex.org/W2178147694","https://openalex.org/W2188087069","https://openalex.org/W2338841435","https://openalex.org/W2345644654","https://openalex.org/W2346457548","https://openalex.org/W2397817832","https://openalex.org/W2407454360","https://openalex.org/W2412302590","https://openalex.org/W2477215949","https://openalex.org/W2599329544","https://openalex.org/W3100258462","https://openalex.org/W4251181231","https://openalex.org/W6703808095","https://openalex.org/W6715221750","https://openalex.org/W6735336426"],"related_works":["https://openalex.org/W3094235490","https://openalex.org/W2066221870","https://openalex.org/W2809633875","https://openalex.org/W2012595107","https://openalex.org/W2539414792","https://openalex.org/W3160402413","https://openalex.org/W2080112351","https://openalex.org/W2288267393","https://openalex.org/W4362659378","https://openalex.org/W2742397931"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,17,50,57,80,89,122],"fully":[3],"edible":[4,104,107,113,126],"pneumatic":[5,77],"actuator":[6,12,48],"based":[7,76],"on":[8],"gelatin-glycerol":[9],"material.":[10],"The":[11],"is":[13],"monolithic,":[14],"fabricated":[15],"via":[16],"molding":[18],"process,":[19],"and":[20,30,56,100,115],"measures":[21],"90":[22],"mm":[23,27,32],"in":[24,28,33],"length,":[25],"20":[26],"width,":[29],"17":[31],"thickness.":[34],"Thanks":[35],"to":[36,42,74,87],"the":[37,47,64,97,103,119],"material":[38],"mechanical":[39],"characteristics":[40],"similar":[41],"those":[43],"of":[44,53,60,67,92,102,125],"silicone":[45],"elastomers,":[46],"exhibits":[49],"bending":[51],"angle":[52],"170.3":[54],"\u00b0":[55],"blocked":[58],"force":[59],"0.34":[61],"N":[62],"at":[63],"applied":[65],"pressure":[66],"25":[68],"kPa.":[69],"These":[70,106],"values":[71],"are":[72,85],"comparable":[73],"elastomer":[75],"actuators.":[78],"As":[79],"validation":[81],"example,":[82],"two":[83],"actuators":[84],"integrated":[86],"form":[88],"gripper":[90],"capable":[91],"handling":[93],"various":[94],"objects,":[95],"highlighting":[96],"high":[98],"performance":[99],"applicability":[101],"actuator.":[105],"actuators,":[108],"combined":[109],"with":[110],"other":[111],"recent":[112],"materials":[114],"electronics,":[116],"could":[117],"lay":[118],"foundation":[120],"for":[121],"new":[123],"type":[124],"robots.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
