{"id":"https://openalex.org/W4411019180","doi":"https://doi.org/10.1109/robosoft63089.2025.11020876","title":"Improving Swimming Performance in Soft Robotic Fish with Distributed Muscles and Embedded Kinematic Sensing","display_name":"Improving Swimming Performance in Soft Robotic Fish with Distributed Muscles and Embedded Kinematic Sensing","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019180","doi":"https://doi.org/10.1109/robosoft63089.2025.11020876"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th 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/A5046482265","display_name":"Kevin Soto","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Soto","raw_affiliation_strings":["University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055689222","display_name":"Isabel Hess","orcid":"https://orcid.org/0009-0009-5254-8688"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isabel Hess","raw_affiliation_strings":["University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Brandon Schrader","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brandon Schrader","raw_affiliation_strings":["University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087880952","display_name":"Shan He","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shan He","raw_affiliation_strings":["University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015064505","display_name":"Patrick Musgrave","orcid":"https://orcid.org/0000-0003-1673-9929"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Musgrave","raw_affiliation_strings":["University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Herbert Wertheim College of Engineering,Department of Mechanical and Aerospace Engineering,Gainesville,FL,USA","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I33213144"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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":0.9991999864578247,"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":0.9991999864578247,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9955000281333923,"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/kinematics","display_name":"Kinematics","score":0.8255780339241028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.639501690864563},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.6034761667251587},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4882057309150696},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45072272419929504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.426529198884964},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33662575483322144},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32666105031967163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29485660791397095},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.23647180199623108},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15813091397285461},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08792710304260254},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.079399973154068}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8255780339241028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.639501690864563},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.6034761667251587},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4882057309150696},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45072272419929504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.426529198884964},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33662575483322144},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32666105031967163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29485660791397095},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.23647180199623108},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15813091397285461},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08792710304260254},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.079399973154068},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.5,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"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":27,"referenced_works":["https://openalex.org/W1608215728","https://openalex.org/W2004886443","https://openalex.org/W2036659854","https://openalex.org/W2077030204","https://openalex.org/W2106077046","https://openalex.org/W2119749518","https://openalex.org/W2145918382","https://openalex.org/W2492131378","https://openalex.org/W2781516556","https://openalex.org/W2790720499","https://openalex.org/W2800503756","https://openalex.org/W2805772645","https://openalex.org/W2890475775","https://openalex.org/W2955354416","https://openalex.org/W2990781753","https://openalex.org/W3104511684","https://openalex.org/W3123746456","https://openalex.org/W3132870553","https://openalex.org/W3217725174","https://openalex.org/W4206184269","https://openalex.org/W4247265502","https://openalex.org/W4285596760","https://openalex.org/W4366742589","https://openalex.org/W4386689053","https://openalex.org/W4390604260","https://openalex.org/W4402442493","https://openalex.org/W4402838890"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2075639008","https://openalex.org/W2109573574"],"abstract_inverted_index":{"Bio-inspired":[0],"underwater":[1,14,19],"vehicles":[2,20],"could":[3],"yield":[4],"improved":[5],"efficiency,":[6],"maneuverability,":[7],"and":[8,40,48,60,93,184,251,255],"environmental":[9],"compatibility":[10],"over":[11],"conventional":[12],"propeller-driven":[13],"vehicles.":[15],"However,":[16],"to":[17,161,265],"realize":[18],"that":[21,223],"harness":[22],"the":[23,46,66,100,150,153,156,176,181,190,197,209,219,244,267],"swimming":[24,49,70,191,230],"performance":[25,50,245],"of":[26,51,73,82,107,123,141,218,247,258,270],"biology,":[27],"there":[28],"is":[29,239],"a":[30,52,89,97,104,145,164,235,263],"need":[31],"for":[32,229],"soft":[33,53,69,101,259],"robotic":[34,54,260],"swimmers":[35],"with":[36,56,119],"both":[37],"distributed":[38,64,80,252],"muscles":[39,59,250],"kinematic":[41,62,237,253],"feedback.":[42],"This":[43],"study":[44],"presents":[45],"design":[47],"fish":[55],"independently":[57,248],"controllable":[58,249],"embedded":[61,86],"sensing":[63],"along":[65],"body.":[67],"The":[68,171],"robot":[71,102],"consists":[72],"an":[74],"interior":[75],"flexible":[76],"spine,":[77],"three":[78],"axially":[79],"sets":[81],"HASEL":[83],"artificial":[84],"muscles,":[85],"strain":[87],"gauges,":[88],"streamlined":[90],"silicone":[91],"body,":[92],"off-board":[94],"electronics.":[95],"In":[96],"fixed":[98],"configuration,":[99],"generates":[103,138,203],"maximum":[105],"thrust":[106,154,177,207],"7.9":[108],"mN":[109,140],"when":[110],"excited":[111,127],"near":[112,128],"its":[113,129],"first":[114,210],"resonant":[115,131,158,199,225],"frequency":[116,132,159,200],"(2":[117,212],"Hz)":[118,202,213],"synchronized":[120,135],"antagonistic":[121,169],"actuation":[122,137],"all":[124],"muscles.":[125],"When":[126],"second":[130,157,198],"(8":[133,201],"Hz),":[134],"muscle":[136,151,173],"5.0":[139],"thrust.":[142],"By":[143],"introducing":[144],"sequential":[146,172],"phase":[147],"offset":[148],"into":[149],"actuation,":[152],"at":[155],"increases":[160],"7.2":[162],"mN,":[163],"44%":[165],"increase":[166],"from":[167],"simple":[168],"activation.":[170],"activation":[174],"improves":[175],"by":[178,193],"increasing":[179],"1)":[180],"tail-beat":[182],"velocity":[183],"2)":[185],"traveling":[186],"wave":[187],"content":[188],"in":[189,231],"kinematics":[192],"four":[194],"times.":[195],"Further,":[196],"nearly":[204],"as":[205,208],"much":[206],"resonance":[211],"while":[214],"requiring":[215],"only":[216],"\u224825%":[217],"tail":[220],"displacement,":[221],"indicating":[222],"higher":[224],"frequencies":[226],"have":[227],"benefits":[228,246],"confined":[232],"environments":[233],"where":[234],"smaller":[236],"envelope":[238],"necessary.":[240],"These":[241],"results":[242],"demonstrate":[243],"sensing,":[254],"this":[256],"type":[257],"swimmer":[261],"provides":[262],"platform":[264],"address":[266],"open":[268],"challenge":[269],"sensorimotor":[271],"control.":[272]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
