{"id":"https://openalex.org/W4376605673","doi":"https://doi.org/10.1109/robosoft55895.2023.10122063","title":"3D Printable Origami-Inspired Pneumatic Soft Actuator with Modularized Design","display_name":"3D Printable Origami-Inspired Pneumatic Soft Actuator with Modularized Design","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605673","doi":"https://doi.org/10.1109/robosoft55895.2023.10122063"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10122063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122063","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111799216","display_name":"Tatsuya Kako","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tatsuya Kako","raw_affiliation_strings":["Rit-sumeikan University,Cloud Robotics Laboratory,Kusatsu,Shiga,Japan,525-8577"],"affiliations":[{"raw_affiliation_string":"Rit-sumeikan University,Cloud Robotics Laboratory,Kusatsu,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP","SG"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,Singapore,117575","Rit-sumeikan University,Cloud Robotics Laboratory,Kusatsu,Shiga,Japan,525-8577"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,Singapore,117575","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Rit-sumeikan University,Cloud Robotics Laboratory,Kusatsu,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036073690","display_name":"Yoshiki Mori","orcid":"https://orcid.org/0000-0002-6223-8634"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Mori","raw_affiliation_strings":["Ritsumeikan University,Research Organization of Science and Technology,Kusatsu,Shiga,Japan,525-8577"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Research Organization of Science and Technology,Kusatsu,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420493","display_name":"Hongying Zhang","orcid":"https://orcid.org/0000-0003-2948-3133"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hongying Zhang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,Singapore,117575"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,Singapore,117575","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067013129","display_name":"Zhongkui Wang","orcid":"https://orcid.org/0000-0003-4037-3306"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["JP","SG"],"is_corresponding":false,"raw_author_name":"Zhongkui Wang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,Singapore,117575","Rit-sumeikan University,Cloud Robotics Laboratory,Kusatsu,Shiga,Japan,525-8577"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,Singapore,117575","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Rit-sumeikan University,Cloud Robotics Laboratory,Kusatsu,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111799216"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.4495,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56696705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9984999895095825,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9940000176429749,"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/actuator","display_name":"Actuator","score":0.7463399767875671},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.6268895864486694},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.6096183657646179},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6045281887054443},{"id":"https://openalex.org/keywords/silicone-rubber","display_name":"Silicone rubber","score":0.5575610995292664},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.5537310838699341},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5288273692131042},{"id":"https://openalex.org/keywords/modular-programming","display_name":"Modular programming","score":0.49770382046699524},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.49127882719039917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4870936870574951},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.42739182710647583},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.41199105978012085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3683249354362488},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3268945813179016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1969323754310608},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1901177167892456},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10208562016487122}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7463399767875671},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.6268895864486694},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.6096183657646179},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6045281887054443},{"id":"https://openalex.org/C2776290925","wikidata":"https://www.wikidata.org/wiki/Q4115245","display_name":"Silicone rubber","level":2,"score":0.5575610995292664},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.5537310838699341},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5288273692131042},{"id":"https://openalex.org/C88482812","wikidata":"https://www.wikidata.org/wiki/Q6453666","display_name":"Modular programming","level":2,"score":0.49770382046699524},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.49127882719039917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4870936870574951},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.42739182710647583},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.41199105978012085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3683249354362488},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3268945813179016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1969323754310608},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1901177167892456},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10208562016487122},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10122063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10122063","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1498337307","https://openalex.org/W1985124115","https://openalex.org/W2135798695","https://openalex.org/W2294490008","https://openalex.org/W2623551786","https://openalex.org/W2738259110","https://openalex.org/W2790246068","https://openalex.org/W2793128170","https://openalex.org/W2801704144","https://openalex.org/W2922426839","https://openalex.org/W2940726020","https://openalex.org/W2999228329","https://openalex.org/W3087615154","https://openalex.org/W3130441245","https://openalex.org/W3135941974","https://openalex.org/W3186511352","https://openalex.org/W3193353607","https://openalex.org/W3205898013","https://openalex.org/W4220999742","https://openalex.org/W4255466541","https://openalex.org/W4281718772","https://openalex.org/W6803196171"],"related_works":["https://openalex.org/W2809633875","https://openalex.org/W3182175143","https://openalex.org/W4200033498","https://openalex.org/W3095748503","https://openalex.org/W2291990610","https://openalex.org/W3005638187","https://openalex.org/W2989641551","https://openalex.org/W3157594975","https://openalex.org/W4360994007","https://openalex.org/W3193200116"],"abstract_inverted_index":{"Pneumatic":[0],"soft":[1,38],"actuators":[2,13],"are":[3],"widely":[4],"used":[5],"in":[6,44,50,158],"various":[7],"applications.":[8,145],"Recent":[9],"years,":[10],"pneumatic":[11,35,65],"origami":[12,66],"were":[14,151,171,180],"studied":[15],"intensively":[16],"because":[17],"of":[18,21,34,52,76,96,109,128,160,186],"the":[19,32,53,85,93,102,114,121,129,134,155,174,184],"advantages":[20],"high":[22],"energy":[23],"efficiency,":[24],"large":[25],"deformation,":[26,161],"and":[27,91,149,164,177],"rich":[28],"deformation":[29],"patterns.":[30],"However,":[31],"fabrication":[33,115],"driven":[36],"origami-based":[37],"robot":[39],"is":[40,74],"a":[41,168],"challenging":[42],"task,":[43],"which":[45,73],"air":[46],"leakage":[47],"can":[48,138],"result":[49],"disfunction":[51],"robots.":[54],"In":[55,117],"this":[56],"paper,":[57],"we":[58,124],"propose":[59,125],"an":[60,69,89],"alterative":[61],"approach":[62],"to":[63,112,119,143,153,182],"fabricate":[64],"structure":[67,105],"using":[68,173],"industrial":[70],"3D":[71,77,103],"printer":[72,97],"capable":[75],"printing":[78],"liquid":[79],"silicone":[80],"rubber":[81],"(LSR).":[82],"We":[83,99],"took":[84],"Kresling":[86],"pattern":[87],"as":[88],"example":[90],"explored":[92],"essential":[94],"parameters":[95],"setting.":[98],"directly":[100],"printed":[101],"folded":[104],"(origami-inspired":[106],"structure)":[107],"instead":[108],"2D":[110],"folding":[111],"simplify":[113],"process.":[116],"addition,":[118],"maximize":[120],"design":[122,127],"freedom,":[123],"modularized":[126],"origami-inspired":[130],"actuator.":[131],"After":[132],"fabricating":[133],"basic":[135,156,175],"modules,":[136],"robots":[137],"be":[139],"freely":[140],"assembled":[141],"according":[142],"different":[144],"Finite":[146],"element":[147],"simulations":[148],"experiments":[150,179],"conducted":[152,181],"characterize":[154],"modules":[157,176],"terms":[159],"rotation":[162],"angle,":[163],"generated":[165],"force.":[166],"Finally,":[167],"robotic":[169],"gripper":[170],"developed":[172],"grasping":[178],"prove":[183],"concept":[185],"modularization.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
