{"id":"https://openalex.org/W4396853532","doi":"https://doi.org/10.1109/robosoft60065.2024.10521993","title":"Control of Silicone-Sheathed Electrostatic Clutches for Soft Pneumatic Actuator Position Control","display_name":"Control of Silicone-Sheathed Electrostatic Clutches for Soft Pneumatic Actuator Position Control","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396853532","doi":"https://doi.org/10.1109/robosoft60065.2024.10521993"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521993","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft60065.2024.10521993","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":"conference-paper","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/A5041765665","display_name":"Gregory M. Campbell","orcid":"https://orcid.org/0000-0003-1936-3293"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory M. Campbell","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003257505","display_name":"R. Daelan Roosa","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Daelan Roosa","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022108747","display_name":"Kevin T. Turner","orcid":"https://orcid.org/0000-0003-4963-4568"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Turner","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045000129","display_name":"James H. Pikul","orcid":"https://orcid.org/0000-0002-7018-2925"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Pikul","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Mechanical Engineering,Madison,WI,USA","Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Mechanical Engineering,Madison,WI,USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering and Applied Mechanics (MEAM),Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics (MEAM), University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"299","last_page":"304"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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":0.9911999702453613,"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/clutch","display_name":"Clutch","score":0.8140780925750732},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7100284099578857},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5749084949493408},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.57012540102005},{"id":"https://openalex.org/keywords/silicone-rubber","display_name":"Silicone rubber","score":0.546808123588562},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5162622928619385},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49723151326179504},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.4583738148212433},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.42872944474220276},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.4196302890777588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3990715742111206},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.342129647731781},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3406912386417389},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2576860785484314},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21674957871437073},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17477652430534363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11055779457092285},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08792856335639954}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8140780925750732},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7100284099578857},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5749084949493408},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.57012540102005},{"id":"https://openalex.org/C2776290925","wikidata":"https://www.wikidata.org/wiki/Q4115245","display_name":"Silicone rubber","level":2,"score":0.546808123588562},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5162622928619385},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49723151326179504},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.4583738148212433},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.42872944474220276},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.4196302890777588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3990715742111206},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.342129647731781},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3406912386417389},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2576860785484314},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21674957871437073},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17477652430534363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11055779457092285},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08792856335639954},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521993","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robosoft60065.2024.10521993","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","display_name":"Affordable and clean energy","score":0.8399999737739563}],"awards":[{"id":"https://openalex.org/G3494604351","display_name":"EFRI C3 SoRo: 3-D surface control for object manipulation with stretchable materials","funder_award_id":"1935294","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":23,"referenced_works":["https://openalex.org/W1812391728","https://openalex.org/W1984187759","https://openalex.org/W1985124115","https://openalex.org/W2025613329","https://openalex.org/W2181330169","https://openalex.org/W2418282907","https://openalex.org/W2418295831","https://openalex.org/W2553364565","https://openalex.org/W2763816982","https://openalex.org/W2889408963","https://openalex.org/W2892123002","https://openalex.org/W2909924726","https://openalex.org/W2966753388","https://openalex.org/W2995522041","https://openalex.org/W2999424415","https://openalex.org/W3130851859","https://openalex.org/W3179596296","https://openalex.org/W3203763089","https://openalex.org/W4299879748","https://openalex.org/W4309676045","https://openalex.org/W4310589006","https://openalex.org/W4312854180","https://openalex.org/W4313161564"],"related_works":["https://openalex.org/W2012595107","https://openalex.org/W2080112351","https://openalex.org/W2066221870","https://openalex.org/W2742397931","https://openalex.org/W2288267393","https://openalex.org/W4362659378","https://openalex.org/W2586390674","https://openalex.org/W2161150970","https://openalex.org/W2313071244","https://openalex.org/W2133979163"],"abstract_inverted_index":{"A":[0],"minimal":[1],"number":[2],"of":[3,12,38,96,105,133,210],"rigid":[4],"constraints":[5],"makes":[6],"soft":[7,16],"robots":[8,14],"versatile,":[9],"but":[10,52],"many":[11],"these":[13,53],"use":[15],"pneumatic":[17,197],"actuators":[18],"(SPAs)":[19],"designed":[20],"to":[21,50,76,79,112,116,163,170,188,194,201],"inflate":[22],"through":[23,92,101],"a":[24,176],"single":[25],"trajectory.":[26],"In":[27,57],"an":[28,67,129,141,195],"unloaded":[29],"actuator,":[30],"this":[31,58],"trajectory":[32],"is":[33,73],"dictated":[34],"by":[35],"the":[36,93,102,106,114,134,146,211],"arrangement":[37],"in-extensible":[39],"and":[40,63,100],"elastic":[41],"materials.":[42],"External":[43],"strain":[44,70,205],"limiters":[45],"can":[46,182,207],"be":[47],"added":[48],"post-fabrication":[49],"SPAs,":[51],"are":[54,110],"passive":[55,122],"devices.":[56],"paper,":[59],"we":[60,191],"offer":[61],"design":[62,113],"control":[64,125,208],"techniques":[65],"for":[66],"electrically":[68],"active":[69],"limiter":[71],"that":[72,203],"easily":[74],"adhered":[75],"existing":[77],"SPAs":[78],"provide":[80],"signal-controlled":[81],"force":[82],"output.":[83],"These":[84],"sheathed":[85],"electroadhesive":[86],"(EA)":[87],"clutches":[88],"apply":[89,171],"antagonistic":[90],"forces":[91,127,159],"constitutive":[94],"properties":[95],"their":[97],"silicone":[98],"sheathing":[99,115],"variable":[103,204],"friction":[104],"clutch":[107,126,153],"itself.":[108],"We":[109,124,139,165],"able":[111],"passively":[117],"support":[118],"loads":[119],"or":[120],"minimize":[121],"stiffness.":[123],"via":[128],"augmented":[130],"pulse-width-modulation":[131],"(PWM)":[132],"high":[135],"voltage":[136],"square-wave":[137],"input.":[138],"perform":[140],"initial,":[142],"empirical":[143],"characterization":[144],"on":[145],"system":[147,154],"with":[148,157],"tensile":[149],"material":[150],"testing.":[151],"The":[152],"resists":[155],"motion":[156],"sustained":[158],"ranging":[160],"from":[161,186],"0.5N":[162],"22N.":[164],"then":[166],"demonstrate":[167],"its":[168],"ability":[169],"predictable":[172],"nonconservative":[173],"work":[174],"in":[175],"dynamic":[177],"catching":[178,184],"task,":[179],"where":[180],"it":[181,193],"limit":[183],"height":[185],"15cm":[187],"1cm.":[189],"Finally,":[190],"attach":[192],"inverse":[196],"artificial":[198],"muscle":[199],"(IPAM)":[200],"show":[202],"limitation":[206],"position":[209],"SPA":[212],"endpoint.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
