{"id":"https://openalex.org/W4386124600","doi":"https://doi.org/10.1109/lra.2023.3308335","title":"A Small Steerable Tip Based on Dielectric Elastomer Actuators","display_name":"A Small Steerable Tip Based on Dielectric Elastomer Actuators","publication_year":2023,"publication_date":"2023-08-24","ids":{"openalex":"https://openalex.org/W4386124600","doi":"https://doi.org/10.1109/lra.2023.3308335"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3308335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3308335","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/A5100670700","display_name":"Siyoung Lee","orcid":"https://orcid.org/0000-0002-9332-5132"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Siyoung Lee","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9332-5132","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075732858","display_name":"Masoud Moghani","orcid":"https://orcid.org/0000-0002-7569-8592"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Masoud Moghani","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7569-8592","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031232382","display_name":"Ang Li","orcid":"https://orcid.org/0000-0002-6431-9796"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ang Li","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6431-9796","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074130221","display_name":"Mihai Duduta","orcid":"https://orcid.org/0000-0001-9965-9654"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Mihai Duduta","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","Department of Mechanical Engineering, University of Connecticut, Storrs, CT, USA"],"raw_orcid":"https://orcid.org/0000-0001-9965-9654","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Connecticut, Storrs, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1664,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.75882485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"10","first_page":"6531","last_page":"6538"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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/T11608","display_name":"Dielectric materials and actuators","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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9991999864578247,"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":0.7189671993255615},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.5872599482536316},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.5360102653503418},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5289915800094604},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5261943936347961},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5118624567985535},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.510456919670105},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.4896305203437805},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.48777681589126587},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.485002726316452},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4504956007003784},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4284178912639618},{"id":"https://openalex.org/keywords/bimorph","display_name":"Bimorph","score":0.4145812392234802},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.4107586145401001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3217340111732483},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.2438804805278778},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2387124001979828},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17136895656585693},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1493959128856659},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10981243848800659}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7189671993255615},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.5872599482536316},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.5360102653503418},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5289915800094604},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5261943936347961},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5118624567985535},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.510456919670105},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.4896305203437805},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.48777681589126587},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.485002726316452},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4504956007003784},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4284178912639618},{"id":"https://openalex.org/C2778393539","wikidata":"https://www.wikidata.org/wiki/Q4913759","display_name":"Bimorph","level":3,"score":0.4145812392234802},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.4107586145401001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3217340111732483},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.2438804805278778},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2387124001979828},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17136895656585693},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1493959128856659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10981243848800659},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3308335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3308335","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":[{"id":"https://openalex.org/G8520717898","display_name":null,"funder_award_id":"2021R1A6A3A03045331","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320310017","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97"},{"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":41,"referenced_works":["https://openalex.org/W50237773","https://openalex.org/W74437596","https://openalex.org/W1985102552","https://openalex.org/W1988000217","https://openalex.org/W2017281661","https://openalex.org/W2100662440","https://openalex.org/W2154963933","https://openalex.org/W2207896672","https://openalex.org/W2270739557","https://openalex.org/W2291425210","https://openalex.org/W2329048676","https://openalex.org/W2412393833","https://openalex.org/W2468140274","https://openalex.org/W2524456492","https://openalex.org/W2591614560","https://openalex.org/W2607462660","https://openalex.org/W2771416819","https://openalex.org/W2771720567","https://openalex.org/W2799721435","https://openalex.org/W2810473562","https://openalex.org/W2889560387","https://openalex.org/W2890475775","https://openalex.org/W2903348871","https://openalex.org/W2911887105","https://openalex.org/W2967780747","https://openalex.org/W2987068209","https://openalex.org/W3006284129","https://openalex.org/W3014908257","https://openalex.org/W3033848484","https://openalex.org/W3089980340","https://openalex.org/W3115179980","https://openalex.org/W3116770071","https://openalex.org/W3173779786","https://openalex.org/W3177722432","https://openalex.org/W3194891815","https://openalex.org/W4223931121","https://openalex.org/W4253508032","https://openalex.org/W4285246866","https://openalex.org/W4293092235","https://openalex.org/W4327700315","https://openalex.org/W6796700178"],"related_works":["https://openalex.org/W3161089714","https://openalex.org/W4392865002","https://openalex.org/W3160402413","https://openalex.org/W4388570999","https://openalex.org/W4308998796","https://openalex.org/W3111785497","https://openalex.org/W4253527034","https://openalex.org/W4381597292","https://openalex.org/W4307031992","https://openalex.org/W381205944"],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"has":[2],"sought":[3],"to":[4,23,127,135,144,150],"emulate":[5],"natural":[6,50],"behaviors.":[7],"One":[8],"impressive":[9],"ability":[10,38,192],"of":[11,76,176,193],"living":[12],"systems":[13],"is":[14],"operating":[15],"in":[16,153,163,173],"confined":[17],"and":[18,44,52,66,114,119,179,190],"narrow":[19],"pathways,":[20],"from":[21],"caterpillars":[22],"tapeworms.":[24],"Among":[25],"the":[26,61,85,100,125,129,146,151,154,191],"soft":[27,41],"actuators,":[28],"dielectric":[29],"elastomer":[30],"actuators":[31],"(DEAs)":[32],"are":[33],"suitable":[34],"candidates":[35],"for":[36,64,117],"this":[37,57],"with":[39,49,131,138,186],"fully":[40],"systems,":[42],"energy,":[43],"power":[45],"densities":[46],"on":[47,72,199],"par":[48],"muscles":[51],"simple":[53],"electro-mechanical":[54],"drive.":[55],"In":[56],"letter,":[58],"we":[59,123],"present":[60],"systematic":[62],"guideline":[63],"designing":[65],"fabricating":[67],"a":[68,78,92],"steerable":[69,159],"tip":[70,86,130,152,188],"based":[71,198],"bimorph":[73],"DEAs":[74,90],"capable":[75],"guiding":[77],"small":[79],"flexible":[80,147],"insertion":[81],"tube.":[82],"We":[83,104,181],"developed":[84],"by":[87,169],"assembling":[88],"identical":[89],"into":[91],"multilayer":[93],"structure,":[94],"which":[95],"induces":[96],"stable":[97],"bending":[98],"at":[99],"same":[101],"bias":[102],"voltage.":[103],"investigated":[105],"various":[106,164,177],"structural":[107],"parameters":[108],"such":[109,166],"as":[110,167],"length,":[111],"passive":[112],"zone,":[113],"multilayer/scaling":[115],"effect":[116],"active":[118,187],"smooth":[120],"navigation.":[121],"Then,":[122],"suggested":[124],"methodology":[126],"provide":[128],"not":[132],"only":[133],"flexibility":[134],"move":[136],"along":[137],"pathways":[139],"but":[140],"also":[141],"sufficient":[142],"stiffness":[143],"lead":[145],"tube":[148],"attached":[149],"desired":[155],"direction.":[156],"The":[157],"tip's":[158],"performance":[160],"was":[161],"analyzed":[162],"conditions,":[165],"deflected":[168],"gravity":[170],"or":[171,195],"suspended":[172],"liquid":[174],"media":[175],"viscosities":[178],"conductivities.":[180],"demonstrated":[182],"fast,":[183],"reliable":[184],"actuation":[185],"control":[189],"shaking":[194],"stirring":[196],"functions":[197],"dynamic":[200],"actuation.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}