{"id":"https://openalex.org/W4312290376","doi":"https://doi.org/10.1109/iros47612.2022.9981297","title":"Topology optimized multi-material self-healing actuator with reduced out of plane deformation","display_name":"Topology optimized multi-material self-healing actuator with reduced out of plane deformation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312290376","doi":"https://doi.org/10.1109/iros47612.2022.9981297"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981297","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5001855236","display_name":"Zhanwei Wang","orcid":"https://orcid.org/0000-0001-8936-254X"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Zhanwei Wang","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000399195","display_name":"Seppe Terryn","orcid":"https://orcid.org/0000-0002-9213-4502"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Seppe Terryn","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043279999","display_name":"J Legrand","orcid":"https://orcid.org/0000-0001-8105-9079"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Julie Legrand","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031656851","display_name":"Pasquale Ferrentino","orcid":"https://orcid.org/0000-0002-8207-0576"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Pasquale Ferrentino","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084766437","display_name":"Seyedreza Kashef Tabrizian","orcid":"https://orcid.org/0000-0001-7296-4966"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Seyedreza Kashef Tabrizian","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008606304","display_name":"Joost Brancart","orcid":"https://orcid.org/0000-0002-1735-1515"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joost Brancart","raw_affiliation_strings":["Vrije Universiteit Brussel,Physical Chemistry and Polymer Science,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel,Physical Chemistry and Polymer Science,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085285823","display_name":"Ellen Roels","orcid":"https://orcid.org/0000-0002-0362-8499"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ellen Roels","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001139192","display_name":"Guy Van Assche","orcid":"https://orcid.org/0000-0003-0452-6272"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Guy Van Assche","raw_affiliation_strings":["Vrije Universiteit Brussel,Physical Chemistry and Polymer Science,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Vrije Universiteit Brussel,Physical Chemistry and Polymer Science,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050"],"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel and Imec,Elsene,Belgium,1050","institution_ids":["https://openalex.org/I13469542"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5001855236"],"corresponding_institution_ids":["https://openalex.org/I13469542"],"apc_list":null,"apc_paid":null,"fwci":2.2445,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89851596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5448","last_page":"5455"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9929999709129333,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9902999997138977,"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/actuator","display_name":"Actuator","score":0.7594119310379028},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6695920825004578},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6373974084854126},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6198717951774597},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6056498289108276},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5599856972694397},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.49831676483154297},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.49111172556877136},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.48119574785232544},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.43669360876083374},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4275689721107483},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.41368672251701355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33341631293296814},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3096449375152588},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22468048334121704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1554303765296936},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08796390891075134}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7594119310379028},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6695920825004578},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6373974084854126},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6198717951774597},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6056498289108276},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5599856972694397},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.49831676483154297},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.49111172556877136},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.48119574785232544},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.43669360876083374},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4275689721107483},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.41368672251701355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33341631293296814},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3096449375152588},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22468048334121704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1554303765296936},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08796390891075134},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9981297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981297","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:162733","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/topology-optimized-multimaterial-selfhealing-actuator-with-reduced-out-of-plane-deformation(e216cb9e-3714-489b-9011-f7e47cc65795).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:187439","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1098612787","display_name":null,"funder_award_id":"1S84120N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G139209158","display_name":null,"funder_award_id":"1100416N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G1426318481","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G2300736770","display_name":null,"funder_award_id":"(CSC)","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G8589651859","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1704704075","https://openalex.org/W1900860620","https://openalex.org/W1964395786","https://openalex.org/W1983449914","https://openalex.org/W2436678748","https://openalex.org/W2576246534","https://openalex.org/W2748291579","https://openalex.org/W2774048936","https://openalex.org/W2789995289","https://openalex.org/W2883938506","https://openalex.org/W2899849323","https://openalex.org/W2945722765","https://openalex.org/W2947081483","https://openalex.org/W2947949670","https://openalex.org/W2999228461","https://openalex.org/W3022476338","https://openalex.org/W3034637066","https://openalex.org/W3139086409","https://openalex.org/W3204312660","https://openalex.org/W4205684811","https://openalex.org/W4205714625"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W2191403106","https://openalex.org/W3028163505","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W4385439013","https://openalex.org/W3206105843","https://openalex.org/W4376605699"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,5,15,106,130,162,198],"soft":[3,13,21],"robotics":[4],"academia":[6],"have":[7,135],"led":[8],"to":[9,19,35,42,52,72,150],"the":[10,38,63,66,84,103,122,131,152,164,205,211,229,233],"adoption":[11],"of":[12,62,110,126,232],"grippers":[14,25],"industrial":[16],"settings.":[17],"Due":[18],"their":[20,36],"bending":[22,92,213,217],"actuators,":[23],"these":[24],"can":[26,219],"handle":[27],"delicate":[28],"objects":[29],"with":[30,96,113,143],"great":[31],"care.":[32],"However,":[33],"due":[34],"flexibility,":[37],"actuators":[39],"are":[40,168],"prone":[41],"out-of-plane":[43,98,153,207,216],"deformations":[44,50],"upon":[45],"asymmetric":[46],"loading.":[47],"These":[48],"undesired":[49],"lead":[51],"reduced":[53],"grasp":[54],"performance":[55],"and":[56,183,191,196,215],"may":[57],"cause":[58],"instability":[59],"or":[60],"failure":[61],"grip.":[64],"While":[65],"state-of-the-art":[67],"contributions":[68],"describe":[69],"complex":[70],"designs":[71,108],"limit":[73],"those":[74],"deformations,":[75],"this":[76,88],"work":[77],"focuses":[78],"on":[79,174],"a":[80,90,136,184],"complementary":[81],"path":[82],"investigating":[83],"material":[85,104,187],"distribution.":[86],"In":[87],"paper,":[89],"novel":[91],"actuator":[93,156,182,188,206],"is":[94,118,148,157,202],"developed":[95],"improved":[97],"deformation":[99],"resistance":[100],"by":[101,121,170,210,222],"optimizing":[102],"distribution":[105],"multi-material":[107,181,225],"composed":[109],"two":[111],"polymers":[112],"different":[114],"mechanical":[115],"properties.":[116],"This":[117,180],"made":[119],"possible":[120],"strong":[123],"interfacial":[124],"strength":[125],"Diels-Alder":[127],"chemical":[128],"bonds":[129],"used":[132],"polymers,":[133],"which":[134,163],"self-healing":[137],"capability.":[138],"A":[139],"Solid":[140],"Isotropic":[141],"Material":[142],"Penalization":[144],"(SIMP)":[145],"topology":[146],"optimization":[147],"performed":[149],"increase":[151],"resistance.":[154],"The":[155],"simulated":[158,169],"using":[159],"FEA":[160,199],"COMSOL":[161],"(hyper)":[165],"elastic":[166],"materials":[167],"Mooney-Rivlin":[171],"models,":[172],"fitted":[173],"experimental":[175,194],"uniaxial":[176],"tensile":[177],"test":[178],"data.":[179],"reference":[185],"single":[186],"were":[189],"manufactured":[190],"modeled.":[192],"Via":[193],"characterization":[195],"validation":[197],"simulations,":[200],"it":[201],"shown":[203],"that":[204],"stiffness,":[208],"characterized":[209],"in-plane":[212],"angle":[214],"angle,":[218],"be":[220],"increased":[221],"an":[223],"optimized":[224],"composition,":[226],"without":[227],"changing":[228],"geometrical":[230],"shape":[231],"actuator.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}