{"id":"https://openalex.org/W4376605604","doi":"https://doi.org/10.1109/robosoft55895.2023.10122032","title":"Earthworm-inspired multimodal soft actuators","display_name":"Earthworm-inspired multimodal soft actuators","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605604","doi":"https://doi.org/10.1109/robosoft55895.2023.10122032"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://findresearcher.sdu.dk/ws/files/259570193/RoboSoft2023_Jonathan.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022780722","display_name":"Jonathan Tirado","orcid":"https://orcid.org/0000-0003-2258-6551"},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Jonathan Tirado","raw_affiliation_strings":["The Maersk Me-Kinney Moller Institute, University of Southern Denmark (SDU),SDU Soft Robotics, SDU Biorobotics,Odense M,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"The Maersk Me-Kinney Moller Institute, University of Southern Denmark (SDU),SDU Soft Robotics, SDU Biorobotics,Odense M,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053748181","display_name":"Jonas J\u00f8rgensen","orcid":"https://orcid.org/0000-0001-9598-3414"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Jonas J\u00f8rgensen","raw_affiliation_strings":["The Maersk Me-Kinney Moller Institute, University of Southern Denmark (SDU),SDU Soft Robotics, SDU Biorobotics,Odense M,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"The Maersk Me-Kinney Moller Institute, University of Southern Denmark (SDU),SDU Soft Robotics, SDU Biorobotics,Odense M,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024113936","display_name":"Ahmad Rafsanjani","orcid":"https://orcid.org/0000-0003-4950-2303"},"institutions":[{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]},{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Ahmad Rafsanjani","raw_affiliation_strings":["The Maersk Me-Kinney Moller Institute, University of Southern Denmark (SDU),SDU Soft Robotics, SDU Biorobotics,Odense M,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"The Maersk Me-Kinney Moller Institute, University of Southern Denmark (SDU),SDU Soft Robotics, SDU Biorobotics,Odense M,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022780722"],"corresponding_institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"],"apc_list":null,"apc_paid":null,"fwci":0.9967,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72184913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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":0.996999979019165,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inflatable","display_name":"Inflatable","score":0.7505195140838623},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7362037301063538},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.5971135497093201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44555380940437317},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3675331473350525},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3121398091316223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1918036937713623}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.7505195140838623},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7362037301063538},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.5971135497093201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44555380940437317},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3675331473350525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3121398091316223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1918036937713623}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:publications/efb8faf0-da6e-4356-91ac-669b19f5199b","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/efb8faf0-da6e-4356-91ac-669b19f5199b","pdf_url":"https://findresearcher.sdu.dk/ws/files/259570193/RoboSoft2023_Jonathan.pdf","source":{"id":"https://openalex.org/S4306400424","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"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":"Tirado Rosero, J A, J\u00f8rgensen, J & Rafsanjani, A 2023, Earthworm-inspired multimodal soft actuators. in 2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, IEEE International Conference on Soft Robotics (RoboSoft), 6th IEEE International Conference on Soft Robotics, RoboSoft 2023, Singapore, Singapore, 03/04/2023. https://doi.org/10.1109/RoboSoft55895.2023.10122032","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/efb8faf0-da6e-4356-91ac-669b19f5199b","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/files/259570193/RoboSoft2023_Jonathan.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400424","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"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":"Tirado Rosero, J A, J\u00f8rgensen, J & Rafsanjani, A 2023, Earthworm-inspired multimodal soft actuators. in 2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, IEEE International Conference on Soft Robotics (RoboSoft), 6th IEEE International Conference on Soft Robotics, RoboSoft 2023, Singapore, Singapore, 03/04/2023. https://doi.org/10.1109/RoboSoft55895.2023.10122032","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:sdu.dk:publications/efb8faf0-da6e-4356-91ac-669b19f5199b","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/efb8faf0-da6e-4356-91ac-669b19f5199b","pdf_url":"https://findresearcher.sdu.dk/ws/files/259570193/RoboSoft2023_Jonathan.pdf","source":{"id":"https://openalex.org/S4306400424","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"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":"Tirado Rosero, J A, J\u00f8rgensen, J & Rafsanjani, A 2023, Earthworm-inspired multimodal soft actuators. in 2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, IEEE International Conference on Soft Robotics (RoboSoft), 6th IEEE International Conference on Soft Robotics, RoboSoft 2023, Singapore, Singapore, 03/04/2023. https://doi.org/10.1109/RoboSoft55895.2023.10122032","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323799","display_name":"Syddansk Universitet","ror":"https://ror.org/03yrrjy16"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4376605604.pdf","grobid_xml":"https://content.openalex.org/works/W4376605604.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W1945817780","https://openalex.org/W2043428911","https://openalex.org/W2071188031","https://openalex.org/W2090787011","https://openalex.org/W2108779784","https://openalex.org/W2141673177","https://openalex.org/W2165479823","https://openalex.org/W2189268927","https://openalex.org/W2591614560","https://openalex.org/W3036564185","https://openalex.org/W4214746323","https://openalex.org/W4304481347","https://openalex.org/W4318338134"],"related_works":["https://openalex.org/W2136901311","https://openalex.org/W4317435135","https://openalex.org/W2788946470","https://openalex.org/W1554139824","https://openalex.org/W3112576735","https://openalex.org/W2753822333","https://openalex.org/W181922973","https://openalex.org/W2770445003","https://openalex.org/W2355735708","https://openalex.org/W2145500951"],"abstract_inverted_index":{"Earthworms":[0],"can":[1],"crawl":[2],"on":[3],"the":[4,9,12,81,122,134,148],"ground":[5],"and":[6,35,67,72,120,126,136],"burrow":[7],"through":[8,11],"soil":[10,65],"sequential":[13,141],"actuation":[14,150],"of":[15,18,24,30,39,64,84,124,128,147],"two":[16],"types":[17],"muscles.":[19,42],"The":[20],"elongated":[21],"soft":[22,56,91,111],"body":[23],"an":[25],"earthworm":[26],"extends":[27],"by":[28,37,103],"contraction":[29,38],"circularly":[31],"arranged":[32],"external":[33],"muscles":[34],"swells":[36],"longitudinally":[40],"oriented":[41],"Despite":[43],"their":[44],"slow":[45],"movement,":[46],"earthworms":[47],"offer":[48],"a":[49,89,95,109],"rich":[50],"model":[51],"for":[52,58,98],"developing":[53],"next-generation":[54],"limbless":[55],"robots":[57],"many":[59],"applications,":[60],"including":[61],"automated":[62],"sensing":[63],"properties":[66],"microbiomes,":[68],"gastrointestinal":[69],"tract":[70],"endoscopy,":[71],"sewer":[73],"pipe":[74],"inspection.":[75],"Here,":[76],"we":[77,144],"take":[78],"inspiration":[79],"from":[80],"interwoven":[82],"morphology":[83],"earthworms'":[85],"musculature":[86],"to":[87,152],"create":[88],"multimodal":[90,130],"actuator.":[92],"We":[93,116],"devised":[94],"prototyping":[96],"technique":[97],"fabricating":[99],"composite":[100],"pneumatic":[101],"actuators":[102,138],"coiling":[104],"prestretched":[105],"inflatable":[106],"tubes":[107],"around":[108],"cylindrical":[110],"actuator":[112],"at":[113],"varying":[114],"tension.":[115],"conducted":[117],"comprehensive":[118],"experiments":[119],"characterized":[121],"evolution":[123],"pressure":[125],"elongation":[127],"these":[129],"actu-ators":[131],"while":[132],"inflating":[133],"inner":[135],"outer":[137],"in":[139],"various":[140],"orders.":[142],"Finally,":[143],"harnessed":[145],"one":[146],"identified":[149],"sequences":[151],"achieve":[153],"in-pipe":[154],"locomotion.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
