{"id":"https://openalex.org/W4390224464","doi":"https://doi.org/10.1109/lra.2023.3347142","title":"Self-Sensing Origami-Inspired Soft Twisting Actuators and Its Application in Soft Robots","display_name":"Self-Sensing Origami-Inspired Soft Twisting Actuators and Its Application in Soft Robots","publication_year":2023,"publication_date":"2023-12-26","ids":{"openalex":"https://openalex.org/W4390224464","doi":"https://doi.org/10.1109/lra.2023.3347142"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3347142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3347142","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/A5040102350","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-6216-7437"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6216-7437","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381763","display_name":"Shaoyang Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoyang Yan","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0005-7055-2243","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuan Xie","orcid":"https://orcid.org/0000-0003-3024-2783"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Xie","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3024-2783","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100733715","display_name":"Yuchao Wang","orcid":"https://orcid.org/0009-0005-0687-4598"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchao Wang","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0005-0687-4598","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409727","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0002-8383-4048"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8383-4048","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]},{"raw_affiliation_string":"Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, the Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology, Nanjing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030485480","display_name":"Yunquan Li","orcid":"https://orcid.org/0000-0001-8425-2982"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunquan Li","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8425-2982","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","Hong Kong Center for Logistics Robotics, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-3900-3519","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics, Hong Kong","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2849,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.77746727,"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":"1404","last_page":"1411"},"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":0.9994000196456909,"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":0.9994000196456909,"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":0.8651093244552612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7055312395095825},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.6672463417053223},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6644656658172607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47309163212776184},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.4540775716304779},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3846229612827301},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3623579740524292},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34229302406311035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2650107741355896},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1782556176185608},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.13044807314872742}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8651093244552612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7055312395095825},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.6672463417053223},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6644656658172607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47309163212776184},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.4540775716304779},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3846229612827301},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3623579740524292},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34229302406311035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2650107741355896},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1782556176185608},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.13044807314872742}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3347142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3347142","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":[{"id":"https://openalex.org/G4431061859","display_name":null,"funder_award_id":"52005269","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1606484752","https://openalex.org/W2610150749","https://openalex.org/W2626557286","https://openalex.org/W2752165401","https://openalex.org/W2762700191","https://openalex.org/W2774617863","https://openalex.org/W2784648116","https://openalex.org/W2802878556","https://openalex.org/W2884957839","https://openalex.org/W2904979905","https://openalex.org/W2913446864","https://openalex.org/W2947472457","https://openalex.org/W2950069298","https://openalex.org/W2970642377","https://openalex.org/W2972065438","https://openalex.org/W2978074599","https://openalex.org/W3010335035","https://openalex.org/W3014933129","https://openalex.org/W3135941974","https://openalex.org/W3193353607","https://openalex.org/W3194786616","https://openalex.org/W3200067310","https://openalex.org/W4225796442","https://openalex.org/W4244873823","https://openalex.org/W4281952793","https://openalex.org/W4282581496","https://openalex.org/W4293016743","https://openalex.org/W4295350348","https://openalex.org/W4307974734","https://openalex.org/W4366814059","https://openalex.org/W4367187056","https://openalex.org/W4376605678"],"related_works":["https://openalex.org/W3134474396","https://openalex.org/W4385439013","https://openalex.org/W4296449477","https://openalex.org/W1515749184","https://openalex.org/W4367041227","https://openalex.org/W2806506062","https://openalex.org/W4285221039","https://openalex.org/W3190856263","https://openalex.org/W3094251759","https://openalex.org/W2792758432"],"abstract_inverted_index":{"The":[0,36,54,135],"good":[1],"compliance":[2],"of":[3,44,50,102],"soft":[4,23,33,66,114,117,122,137],"robots":[5],"provides":[6],"a":[7,30,113,116,121],"reliable":[8],"safety":[9],"environment":[10,87],"for":[11,19,142],"human-robot":[12],"interaction;":[13],"however,":[14],"it":[15],"also":[16,84],"creates":[17],"challenges":[18],"adding":[20],"sensors":[21],"to":[22,131],"robots.":[24],"In":[25],"this":[26],"letter,":[27],"we":[28],"propose":[29],"self-sensing":[31,74,104,110,148],"origami-inspired":[32],"twisting":[34,70,75,105,111],"actuator.":[35,106],"actuator":[37,67,76,138],"is":[38,62],"designed":[39,128],"based":[40,89],"on":[41,90,108],"the":[42,47,65,73,96,109],"structure":[43],"origami,":[45],"enabling":[46],"compound":[48],"motion":[49,82],"twist":[51],"and":[52,99,120,129,150],"contraction.":[53],"position":[55],"sensor":[56],"made":[57],"from":[58],"flexible":[59],"fabric":[60],"material":[61],"integrated":[63],"in":[64,144],"body.":[68],"With":[69],"angle":[71],"feedback,":[72],"can":[77],"not":[78],"only":[79],"provide":[80],"expected":[81],"but":[83],"acquire":[85],"additional":[86],"information":[88,149],"real-time":[91],"sensing.":[92],"This":[93],"letter":[94],"discusses":[95],"design,":[97],"fabrication,":[98],"experimental":[100],"validation":[101],"proposed":[103,136],"Based":[107],"actuator,":[112],"gripper,":[115],"robotic":[118],"arm,":[119],"hexapod":[123],"robot,":[124],"all":[125],"vacuum-powered,":[126],"are":[127],"prototyped":[130],"validate":[132],"their":[133],"performance.":[134],"has":[139],"great":[140],"potential":[141],"applications":[143],"scenarios":[145],"that":[146],"require":[147],"closed-loop":[151],"control.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
