{"id":"https://openalex.org/W3133328570","doi":"https://doi.org/10.1109/iros45743.2020.9341062","title":"Simultaneous 3D Forming and Patterning Method of Realizing Soft IPMC Robots","display_name":"Simultaneous 3D Forming and Patterning Method of Realizing Soft IPMC Robots","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133328570","doi":"https://doi.org/10.1109/iros45743.2020.9341062","mag":"3133328570"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5014754870","display_name":"Keita Kubo","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keita Kubo","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Nabae","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002888194","display_name":"Tetsuya Horiuchi","orcid":"https://orcid.org/0000-0002-9349-7874"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Horiuchi","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Osaka, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007947829","display_name":"Kinji Asaka","orcid":"https://orcid.org/0000-0002-2910-1564"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kinji Asaka","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Osaka, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Suzumori","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9021,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74671234,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8815","last_page":"8822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","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/T11608","display_name":"Dielectric materials and actuators","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":0.9993000030517578,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9905999898910522,"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/actuator","display_name":"Actuator","score":0.7055165767669678},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6981492042541504},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6622223854064941},{"id":"https://openalex.org/keywords/electrode","display_name":"Electrode","score":0.6497522592544556},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.5521239638328552},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.5148395895957947},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.47667670249938965},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.469120055437088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4633980095386505},{"id":"https://openalex.org/keywords/soft-lithography","display_name":"Soft lithography","score":0.41459861397743225},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38174253702163696},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.3653348386287689},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19342443346977234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17272958159446716},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14541590213775635},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09679967164993286}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7055165767669678},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6981492042541504},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6622223854064941},{"id":"https://openalex.org/C17525397","wikidata":"https://www.wikidata.org/wiki/Q176140","display_name":"Electrode","level":2,"score":0.6497522592544556},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.5521239638328552},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.5148395895957947},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.47667670249938965},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.469120055437088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4633980095386505},{"id":"https://openalex.org/C118524077","wikidata":"https://www.wikidata.org/wiki/Q7554001","display_name":"Soft lithography","level":4,"score":0.41459861397743225},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38174253702163696},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.3653348386287689},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19342443346977234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17272958159446716},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14541590213775635},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09679967164993286},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W620898510","https://openalex.org/W1565686691","https://openalex.org/W1576280570","https://openalex.org/W1975600747","https://openalex.org/W2025048727","https://openalex.org/W2038252128","https://openalex.org/W2057592515","https://openalex.org/W2065429074","https://openalex.org/W2069642106","https://openalex.org/W2074229768","https://openalex.org/W2078775428","https://openalex.org/W2080251364","https://openalex.org/W2106300166","https://openalex.org/W2108649684","https://openalex.org/W2117048589","https://openalex.org/W2209177405","https://openalex.org/W2564130887","https://openalex.org/W2737622699","https://openalex.org/W2745655638","https://openalex.org/W2774946109","https://openalex.org/W2911627218","https://openalex.org/W2990526469","https://openalex.org/W6633738154","https://openalex.org/W6660151359","https://openalex.org/W6670205312","https://openalex.org/W6742930809"],"related_works":["https://openalex.org/W2082914599","https://openalex.org/W2756570351","https://openalex.org/W4385439013","https://openalex.org/W4296449477","https://openalex.org/W2129748039","https://openalex.org/W2509017871","https://openalex.org/W2891761951","https://openalex.org/W4220818967","https://openalex.org/W2886961311","https://openalex.org/W2942369430"],"abstract_inverted_index":{"Ionic":[0],"polymer-metal":[1],"composites":[2],"(IPMC)":[3],"actuators":[4,69],"are":[5,34,75],"popular":[6],"because":[7],"they":[8],"can":[9,20,170,205],"be":[10,171,206],"driven":[11],"at":[12],"a":[13,62,79,163,174,197,209,215],"low":[14],"voltage,":[15],"possess":[16],"excellent":[17],"responsiveness,":[18],"and":[19,38,93,180],"perform":[21],"soft":[22,32,52,152,165,200],"motions":[23],"similar":[24],"to":[25,47,85,110,115,189,213],"that":[26],"of":[27,137],"living":[28],"creatures.":[29],"Conventional":[30],"IPMC":[31,40,68,100,122],"robots":[33,53],"manufactured":[35],"by":[36,185],"cutting":[37],"assembling":[39],"sheets.":[41],"However,":[42],"using":[43,145,155,176],"this":[44,58],"conventional":[45,99],"process":[46],"stably":[48],"manufacture":[49],"three-dimensional":[50],"(3D)-shaped":[51],"is":[54,162,183,196],"difficult.":[55],"To":[56],"mitigate":[57],"problem,":[59],"we":[60,119,133],"propose":[61],"new":[63],"method":[64,105,129],"for":[65,141],"fabricating":[66],"3D":[67,91,210,216],"in":[70,130,173],"which":[71],"several":[72],"surface":[73,143,168,203,212],"electrodes":[74,204],"separately":[76],"fabricated":[77,150],"from":[78],"single":[80],"ion-exchange":[81,113],"membrane.":[82],"We":[83,149],"refer":[84],"our":[86,135],"proposal":[87],"as":[88],"the":[89,98,103,112,126,138,142,146,156,177,190],"simultaneous":[90],"forming":[92],"patterning":[94,139],"(SFP)":[95],"method.":[96,148,158],"Unlike":[97],"fabrication":[101],"process,":[102],"SFP":[104,128],"requires":[106],"only":[107],"one":[108],"step":[109],"fix":[111],"membrane":[114],"contact":[116],"masks.":[117],"First,":[118],"briefly":[120],"describe":[121,134],"actuators,":[123],"before":[124],"introducing":[125],"proposed":[127,147,157,178],"detail.":[131],"Next,":[132],"investigations":[136],"resolution":[140],"electrode":[144,169],"two":[151],"robot":[153,161],"prototypes":[154],"The":[159,193],"first":[160],"starfish-type":[164],"robot.":[166],"Its":[167],"patterned":[172,207],"plane":[175],"method,":[179],"independent":[181],"driving":[182],"possible":[184],"applying":[186],"voltage":[187],"individually":[188],"divided":[191],"electrodes.":[192],"second":[194],"prototype":[195],"sea":[198],"anemone-type":[199],"robot,":[201],"wherein":[202],"on":[208],"curved":[211],"form":[214],"shape.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}