{"id":"https://openalex.org/W4396875130","doi":"https://doi.org/10.1109/robosoft60065.2024.10521982","title":"Enhancing the Performance of Pneu-Net Actuators Using a Torsion Resistant Strain Limiting Layer","display_name":"Enhancing the Performance of Pneu-Net Actuators Using a Torsion Resistant Strain Limiting Layer","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396875130","doi":"https://doi.org/10.1109/robosoft60065.2024.10521982"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th 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/A5048514134","display_name":"Ian Good","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ian Good","raw_affiliation_strings":["University of Washington,Mechanical Engineering Department,Seattle,WA,USA,98195"],"affiliations":[{"raw_affiliation_string":"University of Washington,Mechanical Engineering Department,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104299624","display_name":"Srivatsan Balaji","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srivatsan Balaji","raw_affiliation_strings":["University of Washington,Mechanical Engineering Department,Seattle,WA,USA,98195"],"affiliations":[{"raw_affiliation_string":"University of Washington,Mechanical Engineering Department,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039615012","display_name":"Jeffrey I. Lipton","orcid":"https://orcid.org/0000-0003-0843-0999"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey I Lipton","raw_affiliation_strings":["Northeastern University,Mechanical and Industrial Engineering Department,Boston,MA,USA,02115"],"affiliations":[{"raw_affiliation_string":"Northeastern University,Mechanical and Industrial Engineering Department,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048514134"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":0.1955,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44636005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"235","last_page":"242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9900000095367432,"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/grippers","display_name":"Grippers","score":0.6749215126037598},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5488130450248718},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5411441326141357},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.524791419506073},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5058023929595947},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.39499741792678833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36168044805526733},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3310931324958801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30246996879577637},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29132452607154846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23494771122932434}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6749215126037598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5488130450248718},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5411441326141357},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.524791419506073},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5058023929595947},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.39499741792678833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36168044805526733},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3310931324958801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30246996879577637},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29132452607154846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23494771122932434}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7900000214576721,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G252556167","display_name":null,"funder_award_id":"2017927,2035717","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1952425972","https://openalex.org/W1984187759","https://openalex.org/W2610965279","https://openalex.org/W2769501833","https://openalex.org/W2899849323","https://openalex.org/W2908872833","https://openalex.org/W2922426839","https://openalex.org/W2947949670","https://openalex.org/W2977728141","https://openalex.org/W2980992015","https://openalex.org/W3139224338","https://openalex.org/W3139257454","https://openalex.org/W3167203842","https://openalex.org/W4226348943","https://openalex.org/W4281717183","https://openalex.org/W4287888332","https://openalex.org/W4312290376"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2808090143","https://openalex.org/W2527333706","https://openalex.org/W2078285315","https://openalex.org/W2191403106","https://openalex.org/W3028163505","https://openalex.org/W4382046882"],"abstract_inverted_index":{"Pneunets":[0],"are":[1],"the":[2,50,58,62,85,106,120,156,167],"primary":[3],"form":[4],"of":[5,28,61,87,115,132,136,162,170],"soft":[6],"robotic":[7],"grippers.":[8],"A":[9],"key":[10],"limitation":[11,34],"to":[12,19,24,95,100,139],"their":[13,17],"wider":[14],"adoption":[15],"is":[16],"inability":[18],"grasp":[20],"larger":[21],"payloads":[22],"due":[23],"objects":[25,165],"slipping":[26],"out":[27],"grasps.":[29],"We":[30,56,82,110,122,175],"have":[31],"overcome":[32],"this":[33],"by":[35,93],"introducing":[36],"a":[37,67,101,112,125,144,160,171],"torsionally":[38],"rigid":[39],"strain":[40,63],"limiting":[41,64],"layer":[42,65],"(TR-SLL).":[43],"This":[44],"reduces":[45],"out-of-plane":[46,91],"bending":[47,76,92],"while":[48],"maintaining":[49],"gripper's":[51],"softness":[52],"and":[53,72,74,78,134,141],"in-plane":[54],"flexibility.":[55],"characterize":[57],"design":[59],"space":[60],"for":[66,143],"Pneu-net":[68,103,145,173],"gripper":[69,104,146,158],"using":[70,119],"simulation":[71],"experiment":[73],"map":[75],"angle":[77],"relative":[79,126],"grip":[80,130],"strength.":[81],"found":[83],"that":[84],"use":[86],"our":[88,148],"TR-SLL":[89,149,157],"reduced":[90],"up":[94],"97.7%":[96],"in":[97,128],"testing":[98],"compared":[99,138],"benchmark":[102],"from":[105],"Soft":[107],"Robotics":[108],"Toolkit.":[109],"demonstrate":[111],"lifting":[113],"capacity":[114],"5kg":[116],"when":[117],"loading":[118],"TR-SLL.":[121],"also":[123],"see":[124],"improvement":[127],"peak":[129],"force":[131],"3N":[133],"stiffness":[135],"1200N/m":[137],"1N":[140],"150N/m":[142],"without":[147],"at":[150],"equal":[151],"pressures.":[152],"Finally,":[153],"we":[154],"test":[155],"on":[159,178],"suite":[161],"six":[163],"YCB":[164],"above":[166],"demonstrated":[168],"capability":[169],"traditional":[172],"gripper.":[174],"show":[176],"success":[177],"all":[179],"but":[180],"one":[181],"demonstrating":[182],"significant":[183],"increased":[184],"capabilities.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}