{"id":"https://openalex.org/W3003991995","doi":"https://doi.org/10.1109/lra.2020.2969924","title":"Stretchable Kirigami Components for Composite Meso-Scale Robots","display_name":"Stretchable Kirigami Components for Composite Meso-Scale Robots","publication_year":2020,"publication_date":"2020-01-28","ids":{"openalex":"https://openalex.org/W3003991995","doi":"https://doi.org/10.1109/lra.2020.2969924","mag":"3003991995"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969924","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/277287","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009990470","display_name":"Amir Firouzeh","orcid":"https://orcid.org/0000-0003-1408-1086"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","KR"],"is_corresponding":true,"raw_author_name":"Amir Firouzeh","raw_affiliation_strings":["BioRobotics Lab, Seoul National University, Seoul, South Korea","Reconfigurable Robotics Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"BioRobotics Lab, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Reconfigurable Robotics Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049872233","display_name":"Tatsuya Higashisaka","orcid":"https://orcid.org/0000-0002-0496-024X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["CH","JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Higashisaka","raw_affiliation_strings":["Mechanical Engineering Department, University of Tokyo, Bunkyo, Japan","Reconfigurable Robotics Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Tokyo, Bunkyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Reconfigurable Robotics Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035168194","display_name":"Keisuke Nagato","orcid":"https://orcid.org/0000-0003-2399-3087"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Nagato","raw_affiliation_strings":["Mechanical Engineering Department, University of Tokyo, Bunkyo, Japan"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Tokyo, Bunkyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyujin Cho","raw_affiliation_strings":["BioRobotics Lab, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"BioRobotics Lab, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025220023","display_name":"Jamie Paik","orcid":"https://orcid.org/0000-0003-3869-213X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jamie Paik","raw_affiliation_strings":["Reconfigurable Robotics Lab, EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Lab, EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009990470"],"corresponding_institution_ids":["https://openalex.org/I139264467","https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.9683,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.8447708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"1883","last_page":"1890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.996999979019165,"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":0.9959999918937683,"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":0.8029505610466003},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.7465028166770935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7090572714805603},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.6058286428451538},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48955830931663513},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4597897529602051},{"id":"https://openalex.org/keywords/electronics","display_name":"Electronics","score":0.44988304376602173},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.43047767877578735},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3782224655151367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.280112087726593},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.24877989292144775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17514875531196594},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1575697958469391},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.11817702651023865}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8029505610466003},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.7465028166770935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7090572714805603},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6058286428451538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48955830931663513},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4597897529602051},{"id":"https://openalex.org/C138331895","wikidata":"https://www.wikidata.org/wiki/Q11650","display_name":"Electronics","level":2,"score":0.44988304376602173},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.43047767877578735},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3782224655151367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.280112087726593},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.24877989292144775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17514875531196594},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1575697958469391},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.11817702651023865},{"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2969924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969924","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:277287","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/277287","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:277287","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/277287","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2060914694","display_name":null,"funder_award_id":"NRF-2016R1A5A1938472","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1609920162","https://openalex.org/W1846044128","https://openalex.org/W1911519045","https://openalex.org/W2012299141","https://openalex.org/W2041258471","https://openalex.org/W2076162853","https://openalex.org/W2091356137","https://openalex.org/W2122090762","https://openalex.org/W2139303364","https://openalex.org/W2140316998","https://openalex.org/W2168069209","https://openalex.org/W2268948894","https://openalex.org/W2323722098","https://openalex.org/W2342392491","https://openalex.org/W2464937933","https://openalex.org/W2563354324","https://openalex.org/W2563605875","https://openalex.org/W2566750331","https://openalex.org/W2570708084","https://openalex.org/W2602401836","https://openalex.org/W2606740031","https://openalex.org/W2616860187","https://openalex.org/W2624238185","https://openalex.org/W2766350021","https://openalex.org/W2774943527","https://openalex.org/W2788127870","https://openalex.org/W2791688502","https://openalex.org/W2800945641","https://openalex.org/W2957257771","https://openalex.org/W2982083203","https://openalex.org/W3098350030","https://openalex.org/W6660856096","https://openalex.org/W6673438290","https://openalex.org/W6747339826"],"related_works":["https://openalex.org/W2082914599","https://openalex.org/W2756570351","https://openalex.org/W2606427896","https://openalex.org/W2007805353","https://openalex.org/W2132500134","https://openalex.org/W2387433897","https://openalex.org/W2008392873","https://openalex.org/W2100589902","https://openalex.org/W2034830227","https://openalex.org/W2029923468"],"abstract_inverted_index":{"Layer-by-layer":[0],"manufacturing":[1,60,116],"of":[2,10,37,58,67,117,127,159],"composite":[3,45,87,118,136],"mechanisms":[4],"allows":[5],"fast":[6],"and":[7,15,28,76,93,115,132,147,162],"cost-effective":[8],"fabrication":[9],"customized":[11],"robots":[12,119],"in":[13,44,168],"millimeter":[14],"centimeter":[16],"scales":[17],"which":[18,54],"is":[19,52],"promising":[20],"for":[21,82,120],"research":[22],"fields":[23],"that":[24,39],"rely":[25],"on":[26,90,155,164],"frequent":[27],"numerous":[29],"physical":[30],"iterations.":[31],"Due":[32],"to":[33],"the":[34,56,64,86,91,113,125,156,169],"limited":[35],"number":[36],"components":[38,110],"can":[40,99],"be":[41],"directly":[42],"integrated":[43],"structures,":[46],"however,":[47],"often":[48],"an":[49],"assembly":[50],"step":[51],"necessary":[53],"diminishes":[55],"benefits":[57],"this":[59],"method.":[61],"Inspired":[62],"by":[63],"Japanese":[65],"craft":[66],"cutting":[68],"(kiri-)":[69],"paper":[70],"(-gami),":[71],"Kirigami,":[72],"we":[73,130],"introduce":[74],"quasi-2D":[75],"highly":[77],"stretchable":[78,104],"functional":[79,96],"Kirigami":[80,97,141],"layers":[81,98,142],"direct":[83],"integration":[84],"into":[85],"mechanisms.":[88],"Depending":[89],"material":[92],"geometrical":[94],"design;":[95],"perform":[100],"as":[101,144],"flat":[102],"springs,":[103],"electronics,":[105],"sensors":[106],"or":[107],"actuators.":[108],"These":[109],"will":[111],"facilitate":[112],"design":[114],"different":[121],"applications.":[122],"To":[123],"illustrate":[124],"effectiveness":[126],"these":[128],"components,":[129],"designed":[131],"realized":[133],"a":[134],"foldable":[135],"inchworm":[137],"robot":[138],"with":[139,150],"three":[140],"serving":[143],"actuator,":[145],"sensor":[146],"contact":[148],"pad":[149],"directional":[151],"friction.":[152],"We":[153],"elaborate":[154],"working":[157],"principle":[158],"each":[160],"layer":[161],"report":[163],"their":[165],"combined":[166],"performance":[167],"robot.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
