{"id":"https://openalex.org/W4313161564","doi":"https://doi.org/10.1109/iros47612.2022.9982131","title":"Electroadhesive Clutches for Programmable Shape Morphing of Soft Actuators","display_name":"Electroadhesive Clutches for Programmable Shape Morphing of Soft Actuators","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313161564","doi":"https://doi.org/10.1109/iros47612.2022.9982131"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982131","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/A5041765665","display_name":"Gregory M. Campbell","orcid":"https://orcid.org/0000-0003-1936-3293"},"institutions":[{"id":"https://openalex.org/I4210099632","display_name":"Global and Regional Asperger Syndrome Partnership","ror":"https://ror.org/00zzgy689","country_code":"US","type":"other","lineage":["https://openalex.org/I4210099632"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory M. Campbell","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","GRASP Lab","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab","institution_ids":["https://openalex.org/I4210099632"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088767767","display_name":"Jessica Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099632","display_name":"Global and Regional Asperger Syndrome Partnership","ror":"https://ror.org/00zzgy689","country_code":"US","type":"other","lineage":["https://openalex.org/I4210099632"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessica Yin","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","GRASP Lab","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab","institution_ids":["https://openalex.org/I4210099632"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114860541","display_name":"Yuyang Song","orcid":"https://orcid.org/0000-0001-6407-412X"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuyang Song","raw_affiliation_strings":["Toyota Research Institute North America (TRINA),Ann Arbor,MI,USA","Toyota Research Institute North America (TRINA), Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute North America (TRINA),Ann Arbor,MI,USA","institution_ids":["https://openalex.org/I4391768151"]},{"raw_affiliation_string":"Toyota Research Institute North America (TRINA), Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050198765","display_name":"Umesh Gandhi","orcid":"https://orcid.org/0000-0003-1162-5279"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Umesh Gandhi","raw_affiliation_strings":["Toyota Research Institute North America (TRINA),Ann Arbor,MI,USA","Toyota Research Institute North America (TRINA), Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Research Institute North America (TRINA),Ann Arbor,MI,USA","institution_ids":["https://openalex.org/I4391768151"]},{"raw_affiliation_string":"Toyota Research Institute North America (TRINA), Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I4210099632","display_name":"Global and Regional Asperger Syndrome Partnership","ror":"https://ror.org/00zzgy689","country_code":"US","type":"other","lineage":["https://openalex.org/I4210099632"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","GRASP Lab","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab","institution_ids":["https://openalex.org/I4210099632"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045000129","display_name":"James H. Pikul","orcid":"https://orcid.org/0000-0002-7018-2925"},"institutions":[{"id":"https://openalex.org/I4210099632","display_name":"Global and Regional Asperger Syndrome Partnership","ror":"https://ror.org/00zzgy689","country_code":"US","type":"other","lineage":["https://openalex.org/I4210099632"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Pikul","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","GRASP Lab","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Lab","institution_ids":["https://openalex.org/I4210099632"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1932,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94031194,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"11594","last_page":"11599"},"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":0.9994000196456909,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9968000054359436,"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":0.8590356111526489},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.8415071368217468},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6895641088485718},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5720953345298767},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5605580806732178},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.49986934661865234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46634548902511597},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.43786317110061646},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4186152219772339},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3987322151660919},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3432942032814026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31806033849716187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23934414982795715},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1919415295124054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1640866994857788},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09038642048835754}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8590356111526489},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8415071368217468},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6895641088485718},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5720953345298767},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5605580806732178},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.49986934661865234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46634548902511597},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.43786317110061646},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4186152219772339},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3987322151660919},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3432942032814026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31806033849716187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23934414982795715},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1919415295124054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1640866994857788},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09038642048835754},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/iros47612.2022.9982131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982131","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4399999976158142,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1812391728","https://openalex.org/W1891615552","https://openalex.org/W1984187759","https://openalex.org/W2025613329","https://openalex.org/W2080551943","https://openalex.org/W2087008294","https://openalex.org/W2145672288","https://openalex.org/W2146947104","https://openalex.org/W2418295831","https://openalex.org/W2560730116","https://openalex.org/W2607462660","https://openalex.org/W2763816982","https://openalex.org/W2884331545","https://openalex.org/W2892123002","https://openalex.org/W2897561735","https://openalex.org/W2963765355","https://openalex.org/W2995522041","https://openalex.org/W2999424415","https://openalex.org/W3113399277","https://openalex.org/W3132759103","https://openalex.org/W3179596296","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W2604861150","https://openalex.org/W2983479991","https://openalex.org/W4298121576","https://openalex.org/W3170826113","https://openalex.org/W2809633875","https://openalex.org/W4402575579","https://openalex.org/W4200033498","https://openalex.org/W3095748503","https://openalex.org/W2291990610","https://openalex.org/W3005638187"],"abstract_inverted_index":{"Soft":[0],"robotic":[1],"actuators":[2,28,51],"are":[3,103],"safe":[4],"and":[5,18,34,46,96,115,159,180,204,241],"adaptable":[6],"devices":[7],"with":[8,223],"inherent":[9,231],"compliance,":[10],"which":[11,48,139],"makes":[12],"them":[13],"attractive":[14],"for":[15,134],"manipulating":[16],"delicate":[17],"complex":[19],"objects.":[20,136],"Researchers":[21],"have":[22,42],"integrated":[23,64],"stiff":[24],"materials":[25,41],"into":[26,93],"soft":[27,68,221],"to":[29,52,77,107,131,149,152,184],"increase":[30],"their":[31,36],"force":[32],"capacity":[33],"direct":[35],"deformation.":[37,81],"However,":[38],"these":[39,101],"embedded":[40],"largely":[43],"been":[44],"pre-prescribed":[45],"static,":[47],"constrains":[49],"the":[50,79,157,230,238,256],"a":[53,66,90,112,161,172,196,215,220,249,259],"predetermined":[54],"range":[55],"of":[56,123,233,243,258],"motion.":[57],"In":[58],"this":[59],"work,":[60],"electroadhesive":[61],"(EA)":[62],"clutches":[63],"on":[65,110,156],"single-chamber":[67],"pneumatic":[69,234],"actuator":[70,80,127,169,191,222],"(SPA)":[71],"provide":[72],"local":[73,142],"programmable":[74],"stiffness":[75],"modulation":[76],"control":[78],"We":[82,246],"show":[83],"that":[84,228],"activating":[85],"different":[86,121],"clutch":[87,188],"patterns":[88],"inflates":[89],"silicone":[91],"membrane":[92],"pyramidal,":[94],"round,":[95],"plateau":[97],"shapes.":[98],"Curvatures":[99],"from":[100],"shapes":[102],"combined":[104],"during":[105],"actuation":[106,235],"apply":[108],"forces":[109,147,254],"both":[111],"3.7":[113,162],"g":[114,117,163],"820":[116,174],"object":[118,154,164,176],"along":[119],"five":[120],"degrees":[122,179],"freedom":[124],"(DoF).":[125],"The":[126,168],"workspace":[128],"is":[129,192],"up":[130,148],"12":[132],"mm":[133],"light":[135],"Clutch":[137],"deactivation,":[138],"results":[140,213],"in":[141,165,255],"elastomeric":[143],"expansion,":[144],"rapidly":[145,181],"applies":[146],"3.2":[150],"N":[151],"an":[153],"resting":[155],"surface":[158],"launches":[160],"controlled":[166],"directions.":[167],"also":[170],"rotates":[171],"heavier,":[173],"g,":[175],"by":[177,195],"5":[178,197],"restores":[182],"it":[183],"horizontal":[185],"alignment":[186],"after":[187],"deactivation.":[189],"This":[190],"fully":[193],"powered":[194],"V":[198,206],"battery,":[199,201],"AA":[200],"DC-DC":[202],"transformer,":[203],"4.5":[205],"(63":[207],"g)":[208],"DC":[209],"air":[210],"pump.":[211],"These":[212],"demonstrate":[214],"first":[216],"step":[217],"towards":[218],"realizing":[219],"high":[224],"DoF":[225],"shape":[226],"change":[227],"preserves":[229],"benefits":[232],"while":[236],"gaining":[237],"electrical":[239],"controllability":[240],"strength":[242],"EA":[244],"clutches.":[245],"envision":[247],"such":[248],"system":[250],"supplying":[251],"human":[252],"contact":[253],"form":[257],"low-profile":[260],"sit-to-stand":[261],"assistance":[262],"device,":[263],"bed-ridden":[264],"patient":[265],"manipulator,":[266],"or":[267],"other":[268],"ergonomic":[269],"mechanism.":[270]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}