{"id":"https://openalex.org/W4286580805","doi":"https://doi.org/10.1109/lra.2022.3193249","title":"RoboHeart: A Bi-Directional Zipping Actuator","display_name":"RoboHeart: A Bi-Directional Zipping Actuator","publication_year":2022,"publication_date":"2022-07-22","ids":{"openalex":"https://openalex.org/W4286580805","doi":"https://doi.org/10.1109/lra.2022.3193249"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3193249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3193249","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":"https://research-information.bris.ac.uk/en/publications/e37a3230-fd55-4bbb-92ee-abb6a6f40f8a","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091833216","display_name":"Mohammad Naghavi Zadeh","orcid":"https://orcid.org/0000-0001-9953-8465"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammad Naghavi Zadeh","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K","SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9953-8465","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032442283","display_name":"Martin Garrad","orcid":"https://orcid.org/0000-0002-5038-4554"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Martin Garrad","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K","SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5038-4554","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054328638","display_name":"Christian Romero","orcid":"https://orcid.org/0000-0002-7585-9712"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christian Romero","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K","SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7585-9712","affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055756329","display_name":"Andrew T. Conn","orcid":"https://orcid.org/0000-0003-2732-4200"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andrew Conn","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2732-4200","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090078952","display_name":"Fabrizio Scarpa","orcid":"https://orcid.org/0000-0002-5470-4834"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210090377","display_name":"National Composites Centre","ror":"https://ror.org/00bpwbx65","country_code":"GB","type":"other","lineage":["https://openalex.org/I4210090377"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fabrizio Scarpa","raw_affiliation_strings":["Bristol Composites Institute, University of Bristol, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5470-4834","affiliations":[{"raw_affiliation_string":"Bristol Composites Institute, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210090377"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061139675","display_name":"Jonathan Rossiter","orcid":"https://orcid.org/0000-0002-9109-9987"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jonathan Rossiter","raw_affiliation_strings":["Department of Engineering Mathematics, University of Bristol, Bristol, U.K","SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mathematics, University of Bristol, Bristol, U.K","institution_ids":["https://openalex.org/I36234482"]},{"raw_affiliation_string":"SoftLab, Bristol Robotics Laboratory, University of Bristol and University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7859,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.65096634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"10352","last_page":"10358"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"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":0.9966999888420105,"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":0.8387404084205627},{"id":"https://openalex.org/keywords/isotonic","display_name":"Isotonic","score":0.5552579164505005},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5349401831626892},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5236111283302307},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.49606236815452576},{"id":"https://openalex.org/keywords/isometric-exercise","display_name":"Isometric exercise","score":0.4855673015117645},{"id":"https://openalex.org/keywords/contraction","display_name":"Contraction (grammar)","score":0.4466785490512848},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43717247247695923},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41592878103256226},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.41410520672798157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38853511214256287},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.33353227376937866},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3230434060096741}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8387404084205627},{"id":"https://openalex.org/C77056095","wikidata":"https://www.wikidata.org/wiki/Q543183","display_name":"Isotonic","level":2,"score":0.5552579164505005},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5349401831626892},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5236111283302307},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.49606236815452576},{"id":"https://openalex.org/C103486182","wikidata":"https://www.wikidata.org/wiki/Q1216236","display_name":"Isometric exercise","level":2,"score":0.4855673015117645},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.4466785490512848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43717247247695923},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41592878103256226},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.41410520672798157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38853511214256287},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.33353227376937866},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3230434060096741},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","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.2022.3193249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3193249","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:research-information.bris.ac.uk:openaire/e37a3230-fd55-4bbb-92ee-abb6a6f40f8a","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/e37a3230-fd55-4bbb-92ee-abb6a6f40f8a","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Naghavi Zadeh, M, Garrad, M S, Romero, C P, Conn, A T, Scarpa, F & Rossiter, J M 2022, 'RoboHeart : A Bi-Directional Zipping Actuator', IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10352-10358. https://doi.org/10.1109/LRA.2022.3193249","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:openaire/e37a3230-fd55-4bbb-92ee-abb6a6f40f8a","is_oa":true,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/e37a3230-fd55-4bbb-92ee-abb6a6f40f8a","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Naghavi Zadeh, M, Garrad, M S, Romero, C P, Conn, A T, Scarpa, F & Rossiter, J M 2022, 'RoboHeart : A Bi-Directional Zipping Actuator', IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10352-10358. https://doi.org/10.1109/LRA.2022.3193249","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5400000214576721}],"awards":[{"id":"https://openalex.org/G4055130684","display_name":null,"funder_award_id":"EP/R032793/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6264195128","display_name":null,"funder_award_id":"EP/R02961X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8239521115","display_name":null,"funder_award_id":"EP/S026096/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8384139482","display_name":null,"funder_award_id":"EP/T020792/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320005","display_name":"Royal Academy of Engineering","ror":"https://ror.org/0526snb40"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W2079574144","https://openalex.org/W2111253117","https://openalex.org/W2125270718","https://openalex.org/W2531653844","https://openalex.org/W2775854755","https://openalex.org/W2781516556","https://openalex.org/W2904532819","https://openalex.org/W2904979905","https://openalex.org/W2967066431","https://openalex.org/W3066550512","https://openalex.org/W3130943020","https://openalex.org/W3160595376","https://openalex.org/W3213189848","https://openalex.org/W4210761641","https://openalex.org/W4210932676"],"related_works":["https://openalex.org/W2409944494","https://openalex.org/W213604483","https://openalex.org/W1002679192","https://openalex.org/W2597223121","https://openalex.org/W2470672758","https://openalex.org/W2180853946","https://openalex.org/W2510154180","https://openalex.org/W1980264387","https://openalex.org/W1511424870","https://openalex.org/W1974710854"],"abstract_inverted_index":{"Widespread":[0],"adoption":[1],"of":[2,12,19,23,34,52,78,84,94,108,117,121,132],"soft":[3,14,24,148],"robotic":[4,15],"technologies":[5],"is":[6,26,37,66],"held":[7],"back":[8],"by":[9,68,110],"the":[10,20,35,105],"limitations":[11],"existing":[13],"actuators.":[16],"One":[17],"cause":[18],"limited":[21],"performance":[22],"actuators":[25,149],"their":[27],"uni-polar":[28],"stroke,":[29],"which":[30],"means":[31],"only":[32],"part":[33],"work-cycle":[36],"powered.":[38],"In":[39],"this":[40],"work,":[41],"we":[42,72],"introduce":[43],"RoboHeart,":[44],"a":[45,62,112,119,144],"bi-directional":[46],"compliant":[47],"smart":[48],"actuator.":[49],"RoboHeart":[50,79,109,142],"consists":[51],"two":[53],"spring-steel":[54],"strips":[55],"covered":[56],"with":[57],"PVC":[58],"insulation,":[59],"pre-bent":[60],"into":[61],"heart":[63],"shape":[64],"and":[65,75,88,92,98,150],"driven":[67],"dielectrophoretic":[69],"zipping.":[70],"Here,":[71],"perform":[73],"isotonic":[74],"isometric":[76],"characterisation":[77],"performance,":[80],"demonstrating":[81,111],"work":[82],"output":[83],"17":[85],"mJ":[86,90],"(expansion)":[87,97],"18":[89],"(contraction)":[91],"power":[93],"1.5":[95],"mW":[96,100],"2":[99],"(contraction).":[101],"We":[102,127,139],"then":[103],"confirm":[104],"practical":[106],"application":[107],"10-RoboHeart":[113],"ring":[114],"configuration":[115],"capable":[116],"gripping":[118],"range":[120],"objects":[122],"as":[123],"they":[124],"are":[125],"lifted.":[126],"also":[128],"demonstrate":[129],"bidirectional":[130],"control":[131,137],"actuation":[133],"using":[134],"three":[135],"separate":[136],"channels.":[138],"believe":[140],"that":[141],"represents":[143],"step":[145],"towards":[146],"high-performance":[147],"technologies.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}