{"id":"https://openalex.org/W4411019164","doi":"https://doi.org/10.1109/robosoft63089.2025.11020945","title":"Active Tip Trajectory Control in Zig-Zag Soft Actuators using Modular Strain-Limiting Layers with Phase-Changing Inclusions","display_name":"Active Tip Trajectory Control in Zig-Zag Soft Actuators using Modular Strain-Limiting Layers with Phase-Changing Inclusions","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019164","doi":"https://doi.org/10.1109/robosoft63089.2025.11020945"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020945","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/A5030948637","display_name":"P. D. S. H. Gunawardane","orcid":"https://orcid.org/0000-0001-9195-6048"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"P. D. S. Hiroshan Gunawardane","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117826421","display_name":"G. E. Zesiro","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G. E. Zesiro","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024042137","display_name":"Wing\u2010Tai Cheung","orcid":"https://orcid.org/0000-0001-6358-7855"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. Cheung","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027244392","display_name":"Hua\u2010Cheng Zhou","orcid":"https://orcid.org/0000-0001-6856-2358"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"H. Zhou","raw_affiliation_strings":["University of Wollongong,School of Mechanical, Material Mechatronic and Biomedical Engineering,Australia"],"affiliations":[{"raw_affiliation_string":"University of Wollongong,School of Mechanical, Material Mechatronic and Biomedical Engineering,Australia","institution_ids":["https://openalex.org/I204824540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008147927","display_name":"G\u00fcrsel Al\u0131c\u0131","orcid":"https://orcid.org/0000-0001-6527-2881"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"G. Alici","raw_affiliation_strings":["University of Wollongong,School of Mechanical, Material Mechatronic and Biomedical Engineering,Australia"],"affiliations":[{"raw_affiliation_string":"University of Wollongong,School of Mechanical, Material Mechatronic and Biomedical Engineering,Australia","institution_ids":["https://openalex.org/I204824540"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044050496","display_name":"Mu Chiao","orcid":"https://orcid.org/0000-0002-9128-3290"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Chiao","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Canada"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5030948637"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14302148,"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":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T11608","display_name":"Dielectric materials and actuators","score":0.996399998664856,"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":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/zigzag","display_name":"Zigzag","score":0.8116754293441772},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.7290134429931641},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.68390291929245},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6548393368721008},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.5644621253013611},{"id":"https://openalex.org/keywords/strain","display_name":"Strain (injury)","score":0.5216177701950073},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.515065610408783},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5146352052688599},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4176982343196869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4000672996044159},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31981849670410156},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2332909107208252},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20258980989456177},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1948533058166504},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1807648241519928},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16466465592384338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11515706777572632},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.09247097373008728},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07039916515350342}],"concepts":[{"id":"https://openalex.org/C192271897","wikidata":"https://www.wikidata.org/wiki/Q198438","display_name":"Zigzag","level":2,"score":0.8116754293441772},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.7290134429931641},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.68390291929245},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6548393368721008},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.5644621253013611},{"id":"https://openalex.org/C2778022156","wikidata":"https://www.wikidata.org/wiki/Q576145","display_name":"Strain (injury)","level":2,"score":0.5216177701950073},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.515065610408783},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5146352052688599},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4176982343196869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4000672996044159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31981849670410156},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2332909107208252},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20258980989456177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1948533058166504},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1807648241519928},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16466465592384338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11515706777572632},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09247097373008728},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07039916515350342},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020945","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5}],"awards":[],"funders":[{"id":"https://openalex.org/F4320314235","display_name":"TED","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2075430727","https://openalex.org/W2076420009","https://openalex.org/W2618733545","https://openalex.org/W2763328385","https://openalex.org/W2772697282","https://openalex.org/W2803735436","https://openalex.org/W2977728141","https://openalex.org/W3016542991","https://openalex.org/W3036054568","https://openalex.org/W3037722175","https://openalex.org/W3090917335","https://openalex.org/W3127773655","https://openalex.org/W3202027577","https://openalex.org/W3203763089","https://openalex.org/W4206753735","https://openalex.org/W4223438611","https://openalex.org/W4281717183","https://openalex.org/W4295872860","https://openalex.org/W4300427425","https://openalex.org/W4312983132","https://openalex.org/W4384024787","https://openalex.org/W4394646405"],"related_works":["https://openalex.org/W2808029097","https://openalex.org/W3035794677","https://openalex.org/W2032417936","https://openalex.org/W2588100896","https://openalex.org/W2152067480","https://openalex.org/W2326117044","https://openalex.org/W135216162","https://openalex.org/W2947454206","https://openalex.org/W2519053415","https://openalex.org/W67754347"],"abstract_inverted_index":{"Soft":[0],"actuators":[1,10,26,41,64],"are":[2,38,91],"increasingly":[3],"employed":[4],"as":[5],"an":[6,56],"alternative":[7,32],"to":[8,44,149],"rigid":[9],"for":[11,59,157],"delicate":[12],"applications":[13],"that":[14,110],"demand":[15],"high":[16,99],"flexibility":[17],"and":[18,143,155],"adaptability.":[19],"Typically":[20],"fabricated":[21,92],"from":[22],"compliant":[23],"materials,":[24],"soft":[25,62],"exhibit":[27],"significant":[28],"flexibility.":[29],"However,":[30],"when":[31],"movements":[33],"beyond":[34],"their":[35,51],"primary":[36],"motion":[37],"required,":[39],"these":[40],"often":[42],"need":[43],"be":[45],"redesigned":[46],"or":[47],"re-fabricated,":[48],"which":[49],"limits":[50],"versatility.":[52],"This":[53,136],"research":[54],"introduces":[55],"innovative":[57],"design":[58],"variable":[60],"stiffness":[61,128],"pneumatic":[63],"(SPAs)":[65],"by":[66],"incorporating":[67],"a":[68,116,158],"modular":[69,89,113],"strain-limiting":[70],"layer":[71],"(SLL)":[72],"embedded":[73],"with":[74],"phase-changing":[75,94],"inclusions,":[76],"enabling":[77],"active":[78,123],"control":[79],"of":[80,97,119,145,161],"the":[81,120,140],"tip":[82,134,146],"trajectory":[83],"in":[84,105],"3D-printed":[85],"zig-zag":[86],"SPAs.":[87],"The":[88,107],"SLLs":[90,114],"using":[93],"inclusions":[95],"composed":[96],"40%":[98],"aspect":[100],"ratio":[101],"Field\u2019s":[102],"Metal":[103],"particles":[104],"EcoFlex.":[106],"results":[108],"demonstrate":[109],"employing":[111],"three":[112],"on":[115],"single":[117],"side":[118],"SPA":[121],"allows":[122],"switching":[124],"between":[125],"eight":[126,132],"distinct":[127],"configurations,":[129],"thereby":[130],"achieving":[131],"unique":[133],"trajectories.":[135],"capability":[137],"significantly":[138],"enhances":[139],"working":[141],"envelope":[142],"range":[144,160],"trajectories":[147],"compared":[148],"conventional":[150],"SPAs,":[151],"providing":[152],"greater":[153],"adaptability":[154],"functionality":[156],"broader":[159],"applications.":[162]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
