{"id":"https://openalex.org/W4405787781","doi":"https://doi.org/10.1109/iros58592.2024.10801795","title":"Multistable Soft Actuator for Physical Human-robot Interaction","display_name":"Multistable Soft Actuator for Physical Human-robot Interaction","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787781","doi":"https://doi.org/10.1109/iros58592.2024.10801795"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5075028047","display_name":"Juncai Long","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Juncai Long","raw_affiliation_strings":["Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087606063","display_name":"Jituo Li","orcid":"https://orcid.org/0000-0003-1343-5305"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jituo Li","raw_affiliation_strings":["Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033611874","display_name":"Xiaolin Diao","orcid":"https://orcid.org/0000-0002-1468-2298"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojie Diao","raw_affiliation_strings":["Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007381002","display_name":"Chengdi Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengdi Zhou","raw_affiliation_strings":["Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110371869","display_name":"Guodong Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Lu","raw_affiliation_strings":["Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107954111","display_name":"Yixiong Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiong Feng","raw_affiliation_strings":["Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5075028047"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22900081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4090","last_page":"4097"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9297000169754028,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9297000169754028,"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":0.7889089584350586},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6320462226867676},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.622748851776123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5735470652580261},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4667167067527771},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3174692392349243}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7889089584350586},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6320462226867676},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.622748851776123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5735470652580261},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4667167067527771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3174692392349243}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W657822869","https://openalex.org/W1882735753","https://openalex.org/W2043211414","https://openalex.org/W2099006292","https://openalex.org/W2133722181","https://openalex.org/W2143131345","https://openalex.org/W2612110125","https://openalex.org/W2899017731","https://openalex.org/W2921465830","https://openalex.org/W2944493360","https://openalex.org/W2955189310","https://openalex.org/W3022965290","https://openalex.org/W3045105376","https://openalex.org/W3111885409","https://openalex.org/W3158062787","https://openalex.org/W3172088447","https://openalex.org/W3194304197","https://openalex.org/W4205820809","https://openalex.org/W4226469148","https://openalex.org/W4285229108","https://openalex.org/W4285294932","https://openalex.org/W4294677009","https://openalex.org/W4300817963","https://openalex.org/W4306412000","https://openalex.org/W4311825266","https://openalex.org/W4366607035","https://openalex.org/W4385424581","https://openalex.org/W4387449262","https://openalex.org/W4388505366"],"related_works":["https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732","https://openalex.org/W4392651289"],"abstract_inverted_index":{"Collaboration":[0],"with":[1,79],"robots":[2,32],"through":[3],"physical":[4,26,169,187],"contact":[5],"offers":[6],"a":[7,55,117],"more":[8],"intuitive,":[9],"natural,":[10],"and":[11,33,45,65,75,105,110,125,141,158,173],"engaging":[12],"operational":[13],"experience,":[14],"showcasing":[15],"vast":[16],"potential":[17],"in":[18,49,101,123,160,168],"the":[19,97,113,178],"field":[20],"of":[21,43,60,108,116,119,146],"human-robot":[22,188],"interaction.":[23],"However,":[24],"current":[25],"interaction":[27,50,189],"devices,":[28],"such":[29],"as":[30],"collaborative":[31],"haptic":[34,94],"feedback":[35,95],"mechanisms,":[36],"are":[37],"limited":[38],"by":[39],"their":[40],"singular":[41],"modes":[42],"motion":[44],"feedback,":[46,177],"hindering":[47],"enhancements":[48],"experiences.":[51],"Herein,":[52],"we":[53],"present":[54],"multistable":[56,179],"soft":[57,180],"actuator":[58,72,181],"capable":[59],"driving":[61],"multimodal":[62],"shape":[63],"changes":[64,100],"passively":[66],"conforming":[67],"to":[68,91],"user":[69],"touch.":[70],"This":[71],"can":[73,87,129,149],"memorize":[74],"maintains":[76],"any":[77],"deformation":[78],"zero":[80],"power":[81],"consumption.":[82],"Its":[83],"structural":[84,156],"mechanical":[85,175],"properties":[86],"be":[88],"dynamically":[89],"adjusted":[90],"produce":[92],"rich":[93,174],"for":[96,186],"user,":[98],"including":[99],"shape,":[102],"elasticity,":[103],"stiffness,":[104],"even":[106],"sensations":[107],"rupture":[109],"weightlessness.":[111],"Structurally,":[112],"mechanism":[114],"consists":[115],"network":[118],"pneumatic":[120],"bistable":[121],"units":[122],"series":[124],"parallel":[126],"configurations,":[127],"which":[128],"switch":[130],"states":[131],"under":[132],"air":[133,147],"pressure":[134,148],"or":[135,152],"external":[136],"force,":[137],"achieving":[138],"extension,":[139],"contraction,":[140],"omnidirectional":[142],"bending.":[143],"The":[144],"input":[145],"either":[150],"impede":[151],"assist":[153],"deformation,":[154],"altering":[155],"stiffness":[157],"resulting":[159],"varied":[161],"loading":[162],"curves.":[163],"With":[164],"its":[165],"high":[166],"safety":[167],"interactions,":[170],"robust":[171],"operability,":[172],"tactile":[176],"promises":[182],"new":[183],"design":[184],"directions":[185],"devices.":[190]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
