{"id":"https://openalex.org/W3014700990","doi":"https://doi.org/10.1109/lra.2020.2983681","title":"Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces","display_name":"Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces","publication_year":2020,"publication_date":"2020-03-30","ids":{"openalex":"https://openalex.org/W3014700990","doi":"https://doi.org/10.1109/lra.2020.2983681","mag":"3014700990"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2983681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983681","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007666925","display_name":"Koya Narumi","orcid":"https://orcid.org/0000-0001-5830-3942"},"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":"Koya Narumi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5830-3942","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028347532","display_name":"Hiroki Sato","orcid":"https://orcid.org/0000-0002-1364-2198"},"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":"Hiroki Sato","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086570776","display_name":"Ken\u2010ichi Nakahara","orcid":"https://orcid.org/0000-0002-3453-4137"},"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":"Kenichi Nakahara","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3453-4137","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069063701","display_name":"Young ah Seong","orcid":"https://orcid.org/0000-0003-1967-8084"},"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":"Young ah Seong","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1967-8084","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015205735","display_name":"Kunihiko Morinaga","orcid":null},"institutions":[{"id":"https://openalex.org/I24193003","display_name":"Ricoh (Japan)","ror":"https://ror.org/02h4myp42","country_code":"JP","type":"company","lineage":["https://openalex.org/I24193003"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kunihiko Morinaga","raw_affiliation_strings":["ANREALAGE CO., LTD, Tokyo, Japan","[ANREALAGE CO., LTD, Tokyo, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ANREALAGE CO., LTD, Tokyo, Japan","institution_ids":["https://openalex.org/I24193003"]},{"raw_affiliation_string":"[ANREALAGE CO., LTD, Tokyo, Japan]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074504443","display_name":"Yasuaki Kakehi","orcid":"https://orcid.org/0000-0003-4063-9944"},"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":"Yasuaki Kakehi","raw_affiliation_strings":["Interfaculty Initiative in Information Studies, The University of Tokyo, Tokyo, Japan","Interfaculty Initiative in Information Studies, The University of Tokyo., Tokyo, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interfaculty Initiative in Information Studies, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Interfaculty Initiative in Information Studies, The University of Tokyo., Tokyo, Japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059653874","display_name":"Ryuma Niiyama","orcid":"https://orcid.org/0000-0002-9072-8251"},"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":"Ryuma Niiyama","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9072-8251","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate school of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069381472","display_name":"Yoshihiro Kawahara","orcid":"https://orcid.org/0000-0002-0310-2577"},"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":"Yoshihiro Kawahara","raw_affiliation_strings":["Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Graduate School of Engineering, the University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Engineering, the University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2241,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.92264591,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"5","issue":"3","first_page":"3915","last_page":"3922"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9991000294685364,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9987999796867371,"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":0.7921555638313293},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.6037654876708984},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5885037183761597},{"id":"https://openalex.org/keywords/pouch","display_name":"Pouch","score":0.5642370581626892},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5282632112503052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48327022790908813},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4652356207370758},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23721268773078918},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.12569746375083923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10144993662834167}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7921555638313293},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.6037654876708984},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5885037183761597},{"id":"https://openalex.org/C2780101441","wikidata":"https://www.wikidata.org/wiki/Q949930","display_name":"Pouch","level":2,"score":0.5642370581626892},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5282632112503052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48327022790908813},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4652356207370758},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23721268773078918},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.12569746375083923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10144993662834167},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2983681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2983681","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1962898515","https://openalex.org/W1995797200","https://openalex.org/W2054044780","https://openalex.org/W2066967576","https://openalex.org/W2070662831","https://openalex.org/W2097759406","https://openalex.org/W2113989142","https://openalex.org/W2156378823","https://openalex.org/W2325958849","https://openalex.org/W2332095792","https://openalex.org/W2363779618","https://openalex.org/W2508834047","https://openalex.org/W2515930553","https://openalex.org/W2736469366","https://openalex.org/W2755921665","https://openalex.org/W2782093158","https://openalex.org/W2791523991","https://openalex.org/W2896495559","https://openalex.org/W2947301828","https://openalex.org/W2968889539"],"related_works":["https://openalex.org/W2358270677","https://openalex.org/W2012628493","https://openalex.org/W1998249293","https://openalex.org/W2082914599","https://openalex.org/W2901619106","https://openalex.org/W2756570351","https://openalex.org/W1983333553","https://openalex.org/W2051854521","https://openalex.org/W2140790411","https://openalex.org/W2390622580"],"abstract_inverted_index":{"Conventional":[0],"planar":[1],"pneumatic":[2],"actuators":[3,47,211],"have":[4],"not":[5],"been":[6],"able":[7],"to":[8,20,26,72,103],"make":[9],"the":[10,65,74,77,81,97,104,113,118,124,133,137,142,145,185,189,205],"most":[11],"of":[12,44,50,92,120,136,144,209],"their":[13,180],"thin,":[14],"lightweight,":[15],"and":[16,22,37,80,117,175,182,188,207],"flexible":[17],"nature":[18],"due":[19],"tubes":[21],"pumps":[23],"inevitably":[24],"connected":[25],"them.":[27],"In":[28],"this":[29,128],"article,":[30],"we":[31,86,131,147],"build":[32],"upon":[33],"our":[34],"prior":[35],"work":[36,199],"propose":[38],"Liquid":[39,93,195],"Pouch":[40,94,196],"Motors,":[41],"a":[42,201],"family":[43],"printable":[45,156],"soft":[46,210],"that":[48,169,178,194],"consist":[49],"one":[51],"or":[52],"more":[53],"gas-tight":[54],"bladders":[55],"(called":[56],"pouches)":[57],"filled":[58],"with":[59,96,160],"low":[60],"boiling":[61],"point":[62],"liquid.":[63],"When":[64],"heat":[66,108],"over":[67],"34":[68],"\u00b0C":[69],"is":[70],"applied":[71],"them,":[73],"liquid":[75,121],"inside":[76],"pouch":[78],"evaporates":[79],"whole":[82],"structure":[83],"inflates.":[84],"Especially,":[85],"newly":[87],"presented":[88],"roll-to-roll":[89],"mass":[90],"production":[91],"Motors":[95,197],"rectangular":[98],"form":[99],"factor":[100],"in":[101,212],"addition":[102],"previously":[105],"reported":[106],"CNC":[107],"drawing.":[109],"We":[110,192],"also":[111],"discussed":[112],"suitable":[114],"material":[115],"selection":[116],"volume":[119],"needed":[122],"for":[123,204],"actuators.":[125,139],"Based":[126],"on":[127],"fabrication":[129,206],"procedure,":[130],"evaluated":[132],"mechanical":[134],"properties":[135],"proposed":[138],"By":[140],"leveraging":[141],"benefits":[143],"actuators,":[146],"then":[148],"implemented":[149],"three":[150],"shape-changing":[151],"interfaces:":[152],"(1)":[153],"electrically":[154],"driven":[155],"paper":[157,162],"robots":[158],"combined":[159],"printed":[161],"circuit;":[163],"(2)":[164],"an":[165],"untethered":[166],"architecture":[167],"facade":[168],"passively":[170],"actuates":[171],"by":[172,184],"ambient":[173],"heat;":[174],"(3)":[176],"dresses":[177],"change":[179],"color":[181],"texture":[183],"incident":[186],"light":[187],"body":[190],"temperature.":[191],"believe":[193],"will":[198],"as":[200],"new":[202],"toolbox":[203],"application":[208],"interactive":[213],"scenarios.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
