{"id":"https://openalex.org/W4416750899","doi":"https://doi.org/10.1109/iros60139.2025.11247622","title":"Design and Characterization of a Thermal-electrostatic Dual-modal Soft Pouch Motor","display_name":"Design and Characterization of a Thermal-electrostatic Dual-modal Soft Pouch Motor","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750899","doi":"https://doi.org/10.1109/iros60139.2025.11247622"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5069779287","display_name":"Chuang Wu","orcid":"https://orcid.org/0000-0001-5522-9388"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chuang Wu","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Youzhan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youzhan Wang","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102991829","display_name":"Xiaozheng Li","orcid":"https://orcid.org/0000-0002-4850-3008"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozheng Li","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078405776","display_name":"Qingbiao Li","orcid":"https://orcid.org/0000-0003-2761-1218"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Qingbiao Li","raw_affiliation_strings":["University of Macau,Faculty of Science and Technology,Taipa,Macau,China"],"affiliations":[{"raw_affiliation_string":"University of Macau,Faculty of Science and Technology,Taipa,Macau,China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005692787","display_name":"Krishna Manaswi Digumarti","orcid":"https://orcid.org/0000-0003-0521-3200"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Krishna Manaswi Digumarti","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,Australia,4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics, School of Electrical Engineering and Robotics,Brisbane,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036755408","display_name":"Chongjing Cao","orcid":"https://orcid.org/0000-0002-0653-2740"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongjing Cao","raw_affiliation_strings":["Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT),Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069779287"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34537737,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13032","last_page":"13039"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.805899977684021,"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":0.805899977684021,"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":0.06809999793767929,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.02759999968111515,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/pouch","display_name":"Pouch","score":0.8098999857902527},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6919999718666077},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5871999859809875},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.527899980545044},{"id":"https://openalex.org/keywords/stroke","display_name":"Stroke (engine)","score":0.45190000534057617},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43389999866485596},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.3427000045776367}],"concepts":[{"id":"https://openalex.org/C2780101441","wikidata":"https://www.wikidata.org/wiki/Q949930","display_name":"Pouch","level":2,"score":0.8098999857902527},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6919999718666077},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5871999859809875},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.527899980545044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4560000002384186},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.45190000534057617},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43389999866485596},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39579999446868896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34790000319480896},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3409000039100647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33390000462532043},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.32910001277923584},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3221000134944916},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3091000020503998},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3068000078201294},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29089999198913574},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.25940001010894775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/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":31,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1962898515","https://openalex.org/W2781516556","https://openalex.org/W2782093158","https://openalex.org/W2803735436","https://openalex.org/W2897523276","https://openalex.org/W2999962302","https://openalex.org/W3013022121","https://openalex.org/W3014700990","https://openalex.org/W3040005610","https://openalex.org/W3091878124","https://openalex.org/W3134259965","https://openalex.org/W3135198184","https://openalex.org/W3157385487","https://openalex.org/W3160595376","https://openalex.org/W3213189848","https://openalex.org/W4200397375","https://openalex.org/W4205461554","https://openalex.org/W4309048731","https://openalex.org/W4321195649","https://openalex.org/W4322731192","https://openalex.org/W4366547639","https://openalex.org/W4385424581","https://openalex.org/W4399272689","https://openalex.org/W4402316425","https://openalex.org/W4402592574","https://openalex.org/W4402831143","https://openalex.org/W4404953114","https://openalex.org/W4405785632","https://openalex.org/W4409991733","https://openalex.org/W4411020829"],"related_works":[],"abstract_inverted_index":{"Pouch":[0,41],"motors":[1,21,42],"continue":[2],"to":[3,8,145,179,195],"attract":[4],"research":[5],"attention":[6],"owing":[7],"their":[9,57],"simple":[10],"fabrication":[11],"process,":[12],"low":[13],"cost,":[14],"and":[15,33,53,80,92,109,153,166,203],"excellent":[16],"energy":[17],"density.":[18],"Existing":[19],"pouch":[20,70],"based":[22,170],"on":[23,45,171],"the":[24,46,76,86,90,106,119,122,139,172,181],"liquid-gas":[25],"phase":[26],"transition":[27],"(LGPT)":[28],"principle":[29],"exhibit":[30,146],"significant":[31],"stroke":[32,127,149],"force":[34,156],"outputs":[35,59],"but":[36],"suffer":[37],"from":[38],"slow":[39],"responses.":[40],"that":[43,73],"rely":[44],"electrohydraulic":[47],"actuation":[48,110],"(EHA)":[49],"demonstrate":[50,180],"rapid":[51,133],"responses":[52],"broad":[54],"bandwidths,":[55],"yet":[56],"stroke/force":[58],"remain":[60],"limited.":[61],"This":[62],"paper":[63,192],"presents":[64],"a":[65,126,132,147,154],"novel":[66,162],"thermal-electrostatic":[67],"dual-modal":[68],"soft":[69,168,184,201],"motor":[71],"(TES-SPM)":[72],"synergistically":[74],"combines":[75],"advantages":[77],"of":[78,85,102,128,150,157,183],"LGPT":[79,91,140],"EHA.":[81],"The":[82,100,187],"output":[83],"performance":[84],"TES-SPM":[87,123,175,188],"in":[88,116,138,190,199],"both":[89],"EHA":[93,120],"modes":[94],"is":[95,143,193],"characterized":[96],"by":[97],"extensive":[98],"experiments.":[99,117],"effects":[101],"key":[103],"parameters":[104],"including":[105],"liquid":[107],"volumes":[108],"voltage/current":[111],"amplitudes":[112],"are":[113,177],"also":[114],"investigated":[115],"In":[118],"mode,":[121,141],"can":[124],"exert":[125],"2.5":[129],"mm":[130,152],"within":[131],"~":[134,158],"0.06":[135],"s,":[136],"while":[137],"it":[142],"able":[144],"maximum":[148],"22.8":[151],"blocking":[155],"80":[159],"N.":[160],"A":[161],"folding":[163],"fan-inspired":[164],"actuator":[165],"accordion-inspired":[167],"gripper":[169],"serially":[173],"attached":[174],"units":[176],"developed":[178],"potentials":[182],"robotic":[185],"applications.":[186],"designed":[189],"this":[191],"envisioned":[194],"have":[196],"promising":[197],"applications":[198],"industrial":[200],"grippers":[202],"wearable":[204],"assistive":[205],"devices.":[206]},"counts_by_year":[],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-11-28T00:00:00"}
