{"id":"https://openalex.org/W2947973557","doi":"https://doi.org/10.1109/robosoft.2019.8722806","title":"Soft Sensors for Curvature Estimation under Water in a Soft Robotic Fish","display_name":"Soft Sensors for Curvature Estimation under Water in a Soft Robotic Fish","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2947973557","doi":"https://doi.org/10.1109/robosoft.2019.8722806","mag":"2947973557"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722806","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-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/A5005940856","display_name":"Brian Wright","orcid":"https://orcid.org/0000-0003-3384-8334"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Brian Wright","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019271598","display_name":"Daniel M. Vogt","orcid":"https://orcid.org/0000-0003-1286-7034"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel M. Vogt","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, USA"],"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Wood","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, USA"],"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057324125","display_name":"Ardian Jusufi","orcid":"https://orcid.org/0000-0003-4250-2984"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ardian Jusufi","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5005940856"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":18.7079,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.99137766,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"367","last_page":"371"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9991000294685364,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/curvature","display_name":"Curvature","score":0.7325652837753296},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6518926620483398},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5878973603248596},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5746327638626099},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.49645906686782837},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.4239051342010498},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3824693560600281},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.37313026189804077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3526192307472229},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.31833845376968384},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2680214047431946},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19132623076438904},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1465398073196411},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0878438651561737}],"concepts":[{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7325652837753296},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6518926620483398},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5878973603248596},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5746327638626099},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.49645906686782837},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.4239051342010498},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3824693560600281},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.37313026189804077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3526192307472229},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.31833845376968384},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2680214047431946},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19132623076438904},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1465398073196411},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0878438651561737},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft.2019.8722806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722806","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.mpg.de:item_3221369","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0006-4AAF-3","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft 2019)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320333979","display_name":"Hansj\u00f6rg Wyss Institute for Biologically Inspired Engineering, Harvard University","ror":"https://ror.org/008cfmj78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1541263549","https://openalex.org/W1608215728","https://openalex.org/W1971137449","https://openalex.org/W1973642810","https://openalex.org/W1978192179","https://openalex.org/W1984187759","https://openalex.org/W2009742623","https://openalex.org/W2014753099","https://openalex.org/W2054912718","https://openalex.org/W2070294777","https://openalex.org/W2073442815","https://openalex.org/W2154104679","https://openalex.org/W2550114367","https://openalex.org/W2606288098","https://openalex.org/W2614872707","https://openalex.org/W2792445290","https://openalex.org/W4234301890"],"related_works":["https://openalex.org/W2092177242","https://openalex.org/W4295791167","https://openalex.org/W2000473227","https://openalex.org/W2019513361","https://openalex.org/W2191403106","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W2093830638","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"This":[0,125,196],"platform":[1],"provides":[2],"a":[3,72,81,118],"biorobotic":[4],"model":[5],"for":[6,56,99,147,206],"exploring":[7],"body":[8,24,44,57,98,152],"stiffness":[9,58,76],"modulation":[10],"and":[11,17,51],"swimming":[12,207,235],"performance":[13],"experimentally.":[14],"Fishes,":[15],"amphibians":[16],"reptiles":[18],"utilize":[19],"undulatory":[20,49],"motion":[21],"of":[22,33,54,71,80,92,149,151,159,213],"the":[23,26,43,93,106,112,127,144,160,168,189,201],"in":[25,102,130,167,176,227,231],"lateral":[27],"plane":[28],"as":[29],"their":[30],"predominant":[31],"mode":[32],"locomotion.":[34],"Here,":[35],"soft":[36,61,85,95,113,134,161,219],"bending":[37,158],"actuators":[38,65],"facilitate":[39],"shape":[40,216],"changes":[41,150,166,175],"on":[42,68],"to":[45,78,104,174,203],"gain":[46],"insight":[47],"into":[48],"locomotion,":[50],"allow":[52],"exploration":[53],"mechanisms":[55],"control":[59,107],"with":[60,75,117,182,192,208,222],"sensors.":[62],"Soft":[63],"pneumatic":[64,162],"were":[66,87],"attached":[67],"each":[69],"side":[70],"flexible":[73],"panel":[74],"comparable":[77],"that":[79,143],"fish":[82,97],"body.":[83],"Hyper-elastic":[84],"sensors":[86,114,135,220],"embedded":[88],"at":[89],"two":[90],"locations":[91],"undulating":[94],"robotic":[96],"curvature":[100,156],"estimation":[101],"order":[103],"close":[105],"feedback":[108,205],"loop.":[109],"Microchannels":[110],"within":[111],"are":[115],"filled":[116],"liquid":[119,170,223],"metal,":[120],"eutectic":[121],"Gallium":[122],"Indium":[123],"(eGaIn).":[124],"marks":[126],"first":[128],"study":[129],"which":[131,172],"resistive":[132],"eGaIn":[133],"have":[136],"been":[137],"tested":[138],"under":[139],"water.":[140],"Results":[141],"indicate":[142],"sensor":[145,190],"allows":[146],"measurement":[148,186],"curvature.":[153,195],"As":[154],"fin":[155,194,197,215],"changes,":[157],"actuator":[163],"causes":[164],"dimensional":[165],"enclosed":[169],"metal":[171],"correspond":[173],"electrical":[177],"conductivity:":[178],"Resistance":[179],"increased":[180],"proportionally":[181],"bending.":[183],"The":[184,211],"resistance":[185],"enabled":[187],"by":[188,218],"correlates":[191],"tail":[193],"displacement":[198],"information":[199],"opens":[200],"door":[202],"provide":[204],"closed-loop":[209],"control.":[210],"sensing":[212],"body-caudal":[214],"changes-facilitated":[217],"injected":[221],"metal-could":[224],"enhance":[225],"maneuverability":[226],"rapid":[228],"turning":[229],"responses":[230],"future":[232],"biologically":[233],"inspired":[234],"robots.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}