{"id":"https://openalex.org/W4225164824","doi":"https://doi.org/10.1109/robosoft54090.2022.9762204","title":"A Self-sensing Inverse Pneumatic Artificial Muscle","display_name":"A Self-sensing Inverse Pneumatic Artificial Muscle","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225164824","doi":"https://doi.org/10.1109/robosoft54090.2022.9762204"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ieeexplore.ieee.org/abstract/document/9762204","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084618419","display_name":"Lucrezia Lorenzon","orcid":"https://orcid.org/0000-0002-7328-9015"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucrezia Lorenzon","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047207146","display_name":"Giulia Beccali","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Beccali","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033976390","display_name":"Martina Maselli","orcid":"https://orcid.org/0000-0002-0748-8294"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Martina Maselli","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Cianchetti","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna,Pisa,Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"817","last_page":"822"},"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":0.9951000213623047,"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":0.9941999912261963,"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/artificial-muscle","display_name":"Artificial muscle","score":0.8300990462303162},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8276350498199463},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.745681643486023},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6289917826652527},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5669970512390137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5107128620147705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5065904855728149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49511805176734924},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48477810621261597},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47095757722854614},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4607698619365692},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.4590086340904236},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.45062002539634705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3498777747154236},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3489546775817871},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11448982357978821},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09544506669044495},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.08608922362327576},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07716608047485352}],"concepts":[{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.8300990462303162},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8276350498199463},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.745681643486023},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6289917826652527},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5669970512390137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5107128620147705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5065904855728149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49511805176734924},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48477810621261597},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47095757722854614},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4607698619365692},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.4590086340904236},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.45062002539634705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3498777747154236},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3489546775817871},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11448982357978821},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09544506669044495},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.08608922362327576},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07716608047485352},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/546551","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/9762204","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.iris.sssup.it:11382/546551","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/9762204","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2231123827","display_name":"Development of the first fully biocompatible, soft actuated heart: combining in situ tissue engineering and soft robotics","funder_award_id":"767195","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1982983039","https://openalex.org/W2001619268","https://openalex.org/W2013195385","https://openalex.org/W2050185305","https://openalex.org/W2165479823","https://openalex.org/W2344835347","https://openalex.org/W2346234316","https://openalex.org/W2414863687","https://openalex.org/W2418282907","https://openalex.org/W2739365609","https://openalex.org/W2793019179","https://openalex.org/W2793693745","https://openalex.org/W2818677387","https://openalex.org/W2897004653","https://openalex.org/W2909377240","https://openalex.org/W2947472457","https://openalex.org/W2965456331","https://openalex.org/W2980437852","https://openalex.org/W2991829745","https://openalex.org/W2999148010","https://openalex.org/W2999325808","https://openalex.org/W3126550848","https://openalex.org/W3126808738","https://openalex.org/W3126842814","https://openalex.org/W3131795278","https://openalex.org/W3135306348","https://openalex.org/W3174594244","https://openalex.org/W6704375065","https://openalex.org/W7048712134"],"related_works":["https://openalex.org/W3094235490","https://openalex.org/W2066221870","https://openalex.org/W2809633875","https://openalex.org/W2012595107","https://openalex.org/W2539414792","https://openalex.org/W3160402413","https://openalex.org/W2080112351","https://openalex.org/W2288267393","https://openalex.org/W4362659378","https://openalex.org/W2742397931"],"abstract_inverted_index":{"In":[0,59,115],"recent":[1],"years,":[2],"the":[3,16,43,64,73,80,98,103,128],"inverse":[4,53,67],"pneumatic":[5,24,54,68],"artificial":[6,69],"muscles":[7],"attained":[8],"great":[9],"attention":[10],"in":[11,71,122],"soft":[12,35,44,52],"robotics,":[13],"especially":[14],"for":[15,34,50],"wider":[17],"motion":[18,82],"range":[19],"compared":[20],"to":[21,37,41],"traditional":[22],"positive":[23],"actuators.":[25],"Besides":[26],"self-sensing":[27,48,66,120],"is":[28],"a":[29,47,51,88,123,137],"recognized":[30],"highly":[31],"desirable":[32],"property":[33],"actuators":[36],"enable":[38],"proprioception":[39],"and":[40,106],"facilitate":[42],"robots":[45],"control,":[46],"strategy":[49],"muscle":[55,70],"was":[56],"still":[57],"missing.":[58],"this":[60],"paper,":[61],"we":[62,117],"present":[63],"first":[65],"which":[72],"reinforcing":[74],"but":[75],"compliant":[76],"element":[77],"that":[78],"guides":[79],"actuator":[81,99,104,129],"during":[83],"actuation":[84],"has":[85],"not":[86],"only":[87],"mechanical":[89],"function":[90],"but,":[91],"being":[92],"also":[93],"electrically":[94],"conductive,":[95],"it":[96],"endows":[97],"with":[100,111],"self-sensing.":[101],"Here,":[102],"design":[105],"manufacturing":[107],"are":[108],"described,":[109],"together":[110],"an":[112],"electro-mechanical":[113],"characterization.":[114],"addition,":[116],"demonstrate":[118],"its":[119,132],"capability":[121],"dynamic":[124],"setting,":[125],"by":[126],"predicting":[127],"strain":[130],"from":[131],"electric":[133],"resistance":[134],"variation,":[135],"through":[136],"calibration":[138],"model.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}