{"id":"https://openalex.org/W4389164220","doi":"https://doi.org/10.1109/lra.2023.3337702","title":"Robotic Skins With Integrated Actuation, Sensing, and Variable Stiffness","display_name":"Robotic Skins With Integrated Actuation, Sensing, and Variable Stiffness","publication_year":2023,"publication_date":"2023-11-30","ids":{"openalex":"https://openalex.org/W4389164220","doi":"https://doi.org/10.1109/lra.2023.3337702"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3337702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337702","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5065454165","display_name":"Dylan Shah","orcid":"https://orcid.org/0000-0003-3943-6170"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dylan S. Shah","raw_affiliation_strings":["Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-3943-6170","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060078268","display_name":"Stephanie J. Woodman","orcid":"https://orcid.org/0000-0003-4858-6226"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephanie J. Woodman","raw_affiliation_strings":["Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-4858-6226","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057164678","display_name":"Trevor L. Buckner","orcid":"https://orcid.org/0000-0002-6602-8511"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor L. Buckner","raw_affiliation_strings":["Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0002-6602-8511","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017565670","display_name":"Ellen J. Yang","orcid":"https://orcid.org/0000-0001-5572-2463"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ellen J. Yang","raw_affiliation_strings":["Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0001-5572-2463","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010640110","display_name":"Rebecca Kramer\u2010Bottiglio","orcid":"https://orcid.org/0000-0003-2324-8124"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rebecca K. Kramer-Bottiglio","raw_affiliation_strings":["Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-2324-8124","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering & Materials Science, School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":0.9706,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.71249977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"1147","last_page":"1154"},"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":0.9991999864578247,"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":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991000294685364,"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/robot","display_name":"Robot","score":0.6742245554924011},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6320854425430298},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.60484778881073},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5497536659240723},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5457268953323364},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.490263968706131},{"id":"https://openalex.org/keywords/touchpad","display_name":"Touchpad","score":0.4552336037158966},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.4503893554210663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4452993869781494},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4444786012172699},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.42663463950157166},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42147111892700195},{"id":"https://openalex.org/keywords/piezoresistive-effect","display_name":"Piezoresistive effect","score":0.41022804379463196},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36454886198043823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32461416721343994},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.1447441279888153},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10917437076568604}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6742245554924011},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6320854425430298},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.60484778881073},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5497536659240723},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5457268953323364},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.490263968706131},{"id":"https://openalex.org/C43199551","wikidata":"https://www.wikidata.org/wiki/Q20137","display_name":"Touchpad","level":2,"score":0.4552336037158966},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.4503893554210663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4452993869781494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4444786012172699},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.42663463950157166},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42147111892700195},{"id":"https://openalex.org/C198490522","wikidata":"https://www.wikidata.org/wiki/Q1932915","display_name":"Piezoresistive effect","level":2,"score":0.41022804379463196},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36454886198043823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32461416721343994},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.1447441279888153},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10917437076568604},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3337702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3337702","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":30,"referenced_works":["https://openalex.org/W1968938501","https://openalex.org/W2011562875","https://openalex.org/W2149841830","https://openalex.org/W2156378823","https://openalex.org/W2162556257","https://openalex.org/W2162659096","https://openalex.org/W2239230707","https://openalex.org/W2294327715","https://openalex.org/W2520982900","https://openalex.org/W2740040579","https://openalex.org/W2746358053","https://openalex.org/W2752165401","https://openalex.org/W2766027026","https://openalex.org/W2792966616","https://openalex.org/W2825265278","https://openalex.org/W2890388788","https://openalex.org/W2920292158","https://openalex.org/W2928753276","https://openalex.org/W2966753388","https://openalex.org/W2977728141","https://openalex.org/W2979333109","https://openalex.org/W3008109267","https://openalex.org/W3087504778","https://openalex.org/W3087974873","https://openalex.org/W3090917335","https://openalex.org/W3107437201","https://openalex.org/W3139257454","https://openalex.org/W4238079411","https://openalex.org/W4244873823","https://openalex.org/W4304698290"],"related_works":["https://openalex.org/W3161089714","https://openalex.org/W2809633875","https://openalex.org/W4200033498","https://openalex.org/W3095748503","https://openalex.org/W2291990610","https://openalex.org/W3005638187","https://openalex.org/W2989641551","https://openalex.org/W4360994007","https://openalex.org/W3193200116","https://openalex.org/W2991454103"],"abstract_inverted_index":{"Soft":[0],"robots":[1,64,166],"are":[2,30,71],"often":[3],"designed":[4],"to":[5,20,43,60,73,123,170,179,213,242,244],"accomplish":[6],"a":[7,82,89,94,100,110,134,140,149,198,205,216],"single":[8,83,141],"function":[9,84],"and":[10,37,78,107,118,129,156,190,204,233],"cannot":[11],"be":[12,41,58,211],"repurposed":[13,59],"for":[14],"other":[15],"tasks.":[16],"In":[17],"an":[18],"effort":[19],"create":[21,61],"multi-functional":[22],"robots,":[23,229],"researchers":[24],"have":[25],"proposed":[26],"robotic":[27,55,69,97,240],"skins,":[28],"which":[29],"flexible,":[31],"planar":[32],"substrates":[33],"with":[34,145,201],"embedded":[35],"actuation":[36,108],"sensing":[38],"that":[39,102,209],"can":[40,57,79,161,210],"applied":[42],"different":[44],"soft":[45,63],"bodies.":[46],"By":[47],"\u201croboticizing\u201d":[48],"otherwise":[49],"inert":[50],"bodies":[51],"from":[52],"their":[53,75],"surface,":[54],"skins":[56,70,144],"bespoke":[62],"as":[65,163,175,177,224],"needed.":[66],"However,":[67],"current":[68],"unable":[72],"support":[74,171],"own":[76],"structure":[77],"only":[80],"attain":[81],"in":[85,130,215,227],"the":[86,131,185,188,192,239],"absence":[87,132],"of":[88,133,143,187],"host.":[90],"Here,":[91],"we":[92,195],"present":[93],"variable":[95],"stiffness":[96],"skin":[98],"(VSRS),":[99],"concept":[101,189],"integrates":[103],"stiffness-changing":[104],"capabilities,":[105],"sensing,":[106],"into":[109],"single,":[111],"thin":[112],"modular":[113],"robot":[114],"design.":[115],"Reconfiguring,":[116],"reconnecting,":[117],"reshaping":[119],"VSRSs":[120,221],"allows":[121],"them":[122],"achieve":[124],"new":[125],"functions":[126],"both":[127],"on":[128],"host":[135],"body.":[136],"We":[137,219],"demonstrate":[138],"how":[139],"set":[142],"PneuFlex-style":[146],"pneumatic":[147],"actuators,":[148],"geometrically-patterned":[150],"polyethylene":[151],"terepthalate":[152],"(PET)":[153],"jamming":[154,207],"membrane,":[155],"liquid":[157],"metal-based":[158],"capacitive":[159],"sensors":[160],"operate":[162],"closed-loop":[164],"locomotion":[165],"while":[167],"being":[168],"able":[169],"weight":[172],"during":[173],"locomotion,":[174],"well":[176],"stiffen":[178],"hold":[180],"complex":[181],"shapes.":[182],"To":[183],"highlight":[184],"generality":[186],"illuminate":[191],"design":[193],"space,":[194],"also":[196],"test":[197],"second":[199],"embodiment":[200],"McKibben":[202],"actuators":[203],"woven-mesh":[206],"membrane":[208],"reconfigured":[212],"serve":[214],"manipulation":[217],"context.":[218],"see":[220],"having":[222],"application":[223],"adaptable":[225],"linkages":[226],"larger":[228],"smart":[230],"reconfigurable":[231,234],"garments,":[232],"active":[235],"structures,":[236],"thereby":[237],"allowing":[238],"system":[241],"adapt":[243],"time-varying":[245],"task":[246],"requirements.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}