{"id":"https://openalex.org/W2910198011","doi":"https://doi.org/10.1109/iros.2018.8594293","title":"Design for Control of a Soft Bidirectional Bending Actuator","display_name":"Design for Control of a Soft Bidirectional Bending Actuator","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910198011","doi":"https://doi.org/10.1109/iros.2018.8594293","mag":"2910198011"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5000238942","display_name":"R. Adam Bilodeau","orcid":"https://orcid.org/0000-0003-3878-5627"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Adam Bilodeau","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056682074","display_name":"Michelle C. Yuen","orcid":"https://orcid.org/0000-0002-5047-9633"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michelle C. Yuen","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102796265","display_name":"Jennifer C. Case","orcid":"https://orcid.org/0000-0003-3264-0558"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennifer C. Case","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057164678","display_name":"Trevor L. Buckner","orcid":"https://orcid.org/0000-0002-6602-8511"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor L. Buckner","raw_affiliation_strings":["School of Engineering and Applied Science, Yale University, New Haven CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Science, Yale University, New Haven CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010640110","display_name":"Rebecca Kramer\u2010Bottiglio","orcid":"https://orcid.org/0000-0003-2324-8124"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rebecca Kramer-Bottiglio","raw_affiliation_strings":["Yale University, New Haven, CT, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University, New Haven, CT, US","institution_ids":["https://openalex.org/I32971472"]}]}],"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":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9940999746322632,"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":0.982699990272522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8504165410995483},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.6980848908424377},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6663706302642822},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5103608965873718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49040818214416504},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4501129388809204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3734310269355774},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3330867886543274},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12099778652191162},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11482745409011841}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8504165410995483},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.6980848908424377},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6663706302642822},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5103608965873718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49040818214416504},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4501129388809204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3734310269355774},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3330867886543274},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12099778652191162},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11482745409011841}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1558770978","https://openalex.org/W1982983039","https://openalex.org/W1984187759","https://openalex.org/W2025613329","https://openalex.org/W2037867075","https://openalex.org/W2044924607","https://openalex.org/W2054628872","https://openalex.org/W2114626886","https://openalex.org/W2118177844","https://openalex.org/W2122682172","https://openalex.org/W2141905643","https://openalex.org/W2149010019","https://openalex.org/W2166585449","https://openalex.org/W2188087069","https://openalex.org/W2205969003","https://openalex.org/W2215086970","https://openalex.org/W2216138881","https://openalex.org/W2219286031","https://openalex.org/W2245715375","https://openalex.org/W2410102829","https://openalex.org/W2410712669","https://openalex.org/W2412969968","https://openalex.org/W2413403048","https://openalex.org/W2544946644","https://openalex.org/W2560704029","https://openalex.org/W2593221169","https://openalex.org/W2618733545","https://openalex.org/W2736506837","https://openalex.org/W2737984146","https://openalex.org/W2752165401","https://openalex.org/W2766759288","https://openalex.org/W2766889426","https://openalex.org/W2774617863","https://openalex.org/W2777171202","https://openalex.org/W2782251154","https://openalex.org/W2790084889","https://openalex.org/W2793518114","https://openalex.org/W2825265278","https://openalex.org/W2866883984","https://openalex.org/W4244367163","https://openalex.org/W6745141072"],"related_works":["https://openalex.org/W3172386668","https://openalex.org/W2045392317","https://openalex.org/W2035297892","https://openalex.org/W2743172215","https://openalex.org/W2191403106","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W4229591372","https://openalex.org/W4234906596","https://openalex.org/W2071544734"],"abstract_inverted_index":{"In":[0],"this":[1,147],"paper,":[2],"we":[3,47,144],"present":[4],"sensor-controlled":[5],"antagonistic":[6,24],"pneumatic":[7],"actuators":[8,15,25],"(SCAPAs)":[9],"that":[10,146],"integrate":[11],"proven":[12],"soft":[13],"robotic":[14],"and":[16,58,64,87,127],"sensors":[17],"into":[18,90],"a":[19,28,79,114],"simplified,":[20],"controllable":[21],"design.":[22,116],"The":[23],"together":[26],"compose":[27],"bidirectional":[29],"bending":[30],"actuator":[31],"with":[32],"embedded":[33],"capacitive":[34],"strain":[35],"sensors.":[36],"By":[37],"designing":[38],"the":[39,42,53,59,67,75,111,130,152],"SCAPAs":[40],"from":[41],"ground-up":[43],"for":[44,84,135],"closed-loop":[45,160],"control,":[46],"are":[48,72],"able":[49],"to":[50,101,109,121,158],"minimize":[51],"both":[52,85],"number":[54],"of":[55,61,78,113,132,154],"constituent":[56],"components":[57],"types":[60],"materials":[62],"used,":[63],"further":[65],"streamline":[66],"manufacturing":[68],"processes.":[69],"These":[70],"improvements":[71],"embodied":[73],"in":[74],"multipurpose":[76],"use":[77,102,153],"single":[80],"conductive":[81],"fabric":[82],"sheet":[83],"actuation":[86],"sensing,":[88],"integrated":[89],"an":[91],"otherwise":[92],"all-silicone":[93],"device.":[94],"Such":[95],"reduced":[96],"material":[97],"complexity":[98],"allows":[99],"us":[100],"simple":[103,155],"finite":[104],"element":[105],"analysis":[106],"(FEA)":[107],"models":[108],"predict":[110],"performance":[112],"given":[115],"We":[117],"compare":[118],"various":[119],"designs":[120,134],"maximize":[122],"sensor":[123],"effectiveness":[124],"using":[125],"FEA":[126],"experimentally":[128],"verify":[129],"suitability":[131],"select":[133],"state":[136],"reconstruction.":[137],"After":[138],"converging":[139],"on":[140],"our":[141],"final":[142],"design,":[143],"demonstrate":[145],"design":[148],"evaluation":[149],"process":[150],"enables":[151],"control":[156],"strategies":[157],"achieve":[159],"control.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"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":6},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}