{"id":"https://openalex.org/W4411019170","doi":"https://doi.org/10.1109/robosoft63089.2025.11020885","title":"Design and Fabrication Workflow for Vertebrate Soft Robots","display_name":"Design and Fabrication Workflow for Vertebrate Soft Robots","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019170","doi":"https://doi.org/10.1109/robosoft63089.2025.11020885"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020885","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":"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/A5074576997","display_name":"Naresh Kumar Thanigaivel","orcid":"https://orcid.org/0000-0002-6689-1331"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Naresh Kumar Thanigaivel","raw_affiliation_strings":["Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088698571","display_name":"Thileepan Stalin","orcid":"https://orcid.org/0000-0002-5557-2159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thileepan Stalin","raw_affiliation_strings":["Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043626030","display_name":"Elgar Kanhere","orcid":"https://orcid.org/0000-0002-9416-0931"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Elgar Kanhere","raw_affiliation_strings":["SUTD Digital Manufacturing and Design (DManD) Research Centre"],"affiliations":[{"raw_affiliation_string":"SUTD Digital Manufacturing and Design (DManD) Research Centre","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108737899","display_name":"P.M. Aby Raj","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"P.M. Aby Raj","raw_affiliation_strings":["Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090544151","display_name":"Gumawang Hiramandala","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gumawang Hiramandala","raw_affiliation_strings":["SUTD Digital Manufacturing and Design (DManD) Research Centre"],"affiliations":[{"raw_affiliation_string":"SUTD Digital Manufacturing and Design (DManD) Research Centre","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077945788","display_name":"Pablo Valdivia y Alvarado","orcid":"https://orcid.org/0000-0003-0289-0628"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Pablo Valdivia y Alvarado","raw_affiliation_strings":["Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design (SUTD),Engineering and Product Development,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5074576997"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14305883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.7181649208068848},{"id":"https://openalex.org/keywords/vertebrate","display_name":"Vertebrate","score":0.7079371809959412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6830219030380249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6301833987236023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25055718421936035},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.15820950269699097},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12324574589729309}],"concepts":[{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.7181649208068848},{"id":"https://openalex.org/C2778961482","wikidata":"https://www.wikidata.org/wiki/Q25241","display_name":"Vertebrate","level":3,"score":0.7079371809959412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6830219030380249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6301833987236023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25055718421936035},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.15820950269699097},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12324574589729309},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020885","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1952425972","https://openalex.org/W2075489463","https://openalex.org/W2520982900","https://openalex.org/W2889529934","https://openalex.org/W2908872833","https://openalex.org/W2921126998","https://openalex.org/W2946929421","https://openalex.org/W2980002661","https://openalex.org/W3008891181","https://openalex.org/W3036262498","https://openalex.org/W3043122761","https://openalex.org/W3130284108","https://openalex.org/W3138755453","https://openalex.org/W3139257454","https://openalex.org/W3142070890","https://openalex.org/W4225089251","https://openalex.org/W4226071493","https://openalex.org/W4285102520","https://openalex.org/W4293919971","https://openalex.org/W4315472345","https://openalex.org/W4319459047","https://openalex.org/W4388694028","https://openalex.org/W4391722624","https://openalex.org/W4403334181","https://openalex.org/W4403826058"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2546176647","https://openalex.org/W4318774095","https://openalex.org/W2944663229","https://openalex.org/W1981780420","https://openalex.org/W2182707996","https://openalex.org/W45233828","https://openalex.org/W2964988449"],"abstract_inverted_index":{"In":[0],"nature,":[1],"muscles":[2],"and":[3,15,28,34,67,79,117,124,130,146,162,179,185,197,211],"soft":[4,96,147,166],"skin":[5],"surround":[6],"bones,":[7],"providing":[8],"the":[9,103,108,110,118,121,132,159,169,204],"optimal":[10],"structural":[11],"properties":[12,100],"for":[13,40,84],"locomotion":[14],"grasping.":[16],"Despite":[17],"growing":[18],"interest":[19],"in":[20,95,158],"such":[21,101,194],"hybrid":[22,183],"hard-soft":[23],"robotic":[24],"systems,":[25],"current":[26],"design":[27,161,178],"fabrication":[29,89,144,180],"methods":[30],"require":[31],"time-intensive":[32],"designs":[33,78,216],"extensive":[35],"simulations,":[36],"hindering":[37],"rapid":[38,160],"prototyping":[39,163],"diverse":[41],"applications.":[42],"To":[43],"address":[44],"these":[45],"shortfalls,":[46],"this":[47],"study":[48,71],"presents":[49],"a":[50,182,186],"procedural":[51],"workflow":[52,156,208],"to":[53,75,114,174,202,213],"fabricate":[54],"Vertebrate":[55],"Soft":[56],"Robots":[57],"(VSoRos)":[58],"utilizing":[59],"multiple":[60],"materials":[61],"that":[62],"mimic":[63],"biological":[64],"tissue,":[65],"cartilage,":[66],"skeletons.":[68],"The":[69,177],"proposed":[70,207],"combines":[72],"parametric":[73],"tools":[74],"customize":[76],"VSoRo":[77],"create":[80],"sequential":[81],"machine":[82],"instructions":[83],"multi-material":[85],"fabrication.":[86],"This":[87,135,155,206],"tailored":[88],"of":[90,164,181],"flexible":[91,129,139],"skeletal":[92],"structures":[93],"encapsulated":[94],"skins":[97,119,149],"offers":[98],"complementary":[99],"as":[102,195],"internal":[104,122],"skeleton,":[105],"which":[106],"gives":[107],"structure":[109,133],"rigidity":[111],"it":[112],"needs":[113],"transfer":[115],"force,":[116],"protect":[120],"bones":[123],"tendons":[125],"by":[126],"being":[127],"naturally":[128],"keeping":[131],"together.":[134],"work":[136],"fabricated":[137],"monolithic":[138],"skeletons":[140],"via":[141,150],"fused":[142],"filament":[143],"(FFF)":[145],"silicone":[148],"direct":[151],"ink":[152],"writing":[153],"(DIW).":[154],"aids":[157],"vertebrate":[165],"robots,":[167],"reducing":[168],"overall":[170],"development":[171],"time":[172],"compared":[173],"conventional":[175],"methods.":[176],"gripper":[184],"lizard-like":[187],"robot,":[188],"along":[189],"with":[190],"various":[191],"actuation":[192],"methods,":[193],"tendon-driven":[196],"pneumatic":[198],"actuation,":[199],"were":[200],"demonstrated":[201],"showcase":[203],"possibilities.":[205],"allows":[209],"researchers":[210],"roboticists":[212],"explore":[214],"vertebrate-inspired":[215],"rapidly.":[217]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}