{"id":"https://openalex.org/W4411019159","doi":"https://doi.org/10.1109/robosoft63089.2025.11020973","title":"Model-based design of multi-stable 3D soft manipulators: a dielectric elastomer case study","display_name":"Model-based design of multi-stable 3D soft manipulators: a dielectric elastomer case study","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019159","doi":"https://doi.org/10.1109/robosoft63089.2025.11020973"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020973","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/A5093316373","display_name":"Giovanni Soleti","orcid":"https://orcid.org/0000-0003-0333-7410"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Giovanni Soleti","raw_affiliation_strings":["Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany"],"affiliations":[{"raw_affiliation_string":"Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006646463","display_name":"Julian Kunze","orcid":"https://orcid.org/0000-0002-0943-1363"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Kunze","raw_affiliation_strings":["Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany"],"affiliations":[{"raw_affiliation_string":"Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075277974","display_name":"Paolo Roberto Massenio","orcid":"https://orcid.org/0000-0002-8552-3251"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paolo Roberto Massenio","raw_affiliation_strings":["Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany"],"affiliations":[{"raw_affiliation_string":"Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004460933","display_name":"Gianluca Rizzello","orcid":"https://orcid.org/0000-0002-7017-698X"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gianluca Rizzello","raw_affiliation_strings":["Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany"],"affiliations":[{"raw_affiliation_string":"Saarland University,Department of Systems Engineering,Saarbr&#x00FC;cken,Germany","institution_ids":["https://openalex.org/I91712215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5093316373"],"corresponding_institution_ids":["https://openalex.org/I91712215"],"apc_list":null,"apc_paid":null,"fwci":0.7034,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70007752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"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":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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9980999827384949,"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":0.9977999925613403,"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/elastomer","display_name":"Elastomer","score":0.834928035736084},{"id":"https://openalex.org/keywords/dielectric-elastomers","display_name":"Dielectric elastomers","score":0.7709883451461792},{"id":"https://openalex.org/keywords/dielectric","display_name":"Dielectric","score":0.7171283960342407},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5695052146911621},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.504611611366272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44412022829055786},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4217827618122101},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.39335885643959045},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33142799139022827},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24708187580108643},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22330445051193237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1457533836364746},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.08220928907394409}],"concepts":[{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.834928035736084},{"id":"https://openalex.org/C51044723","wikidata":"https://www.wikidata.org/wiki/Q3278107","display_name":"Dielectric elastomers","level":3,"score":0.7709883451461792},{"id":"https://openalex.org/C133386390","wikidata":"https://www.wikidata.org/wiki/Q184996","display_name":"Dielectric","level":2,"score":0.7171283960342407},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5695052146911621},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.504611611366272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44412022829055786},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4217827618122101},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.39335885643959045},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33142799139022827},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24708187580108643},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22330445051193237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1457533836364746},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.08220928907394409}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020973","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/7","display_name":"Affordable and clean energy","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2101667962","https://openalex.org/W2155449331","https://openalex.org/W2791239448","https://openalex.org/W2990316883","https://openalex.org/W3021947263","https://openalex.org/W3023786610","https://openalex.org/W3032992077","https://openalex.org/W3145834777","https://openalex.org/W3165472471","https://openalex.org/W3181775164","https://openalex.org/W4200428696","https://openalex.org/W4206697653","https://openalex.org/W4212805852","https://openalex.org/W4313639260","https://openalex.org/W4376605563","https://openalex.org/W4396780043"],"related_works":["https://openalex.org/W1496010949","https://openalex.org/W2922175021","https://openalex.org/W2040651635","https://openalex.org/W3112293155","https://openalex.org/W2043852716","https://openalex.org/W2626229370","https://openalex.org/W3007296401","https://openalex.org/W1997741049","https://openalex.org/W1547818381","https://openalex.org/W4213066075"],"abstract_inverted_index":{"Multi-stable":[0],"design":[1,45],"principles":[2,46],"represent":[3],"an":[4],"effective":[5],"means":[6],"to":[7,50,156,177,188,196],"enhance":[8,51],"the":[9,28,36,52,82,87,92,95,101,150,173,180],"performance":[10,53],"(e.g.,":[11],"stroke,":[12],"energy":[13],"efficiency)":[14],"of":[15,21,54,103,122,149],"several":[16],"engineering":[17],"systems.":[18],"Systematic":[19],"integration":[20],"multi-stability":[22],"in":[23,35,115,186,206],"soft":[24,55,105,123,139,209],"robotic":[25,56],"manipulators,":[26,57],"on":[27,166],"other":[29],"hand,":[30],"is":[31,143,175,183],"far":[32],"less":[33],"explored":[34],"literature.":[37],"In":[38],"this":[39,154],"paper,":[40],"we":[41,78,99,129],"investigate":[42,100],"how":[43],"multi-stable":[44,161,179,192],"can":[47],"be":[48,178,204],"used":[49,205],"using":[58],"as":[59],"case":[60],"study":[61],"a":[62,71,75,131,136,146],"dielectric":[63],"elastomer":[64],"actuator":[65],"(DEA)":[66],"driven":[67],"spatial":[68],"manipulator":[69],"with":[70],"flexible":[72,96],"backbone.":[73,97],"Leveraging":[74],"model-based":[76],"approach,":[77],"aim":[79],"at":[80],"expanding":[81],"robot":[83,106,210],"workspace":[84,182],"by":[85,91],"exploiting":[86],"buckling":[88,117],"instability":[89],"induced":[90],"DEAs":[93],"into":[94],"First,":[98],"ability":[102],"established":[104],"models,":[107],"namely":[108],"Polynomial":[109],"Curvature":[110],"and":[111,119,160],"Piecewise":[112],"Constant":[113],"Curvature,":[114],"describing":[116],"load":[118],"post-buckling":[120],"shape":[121],"beams.":[124],"Building":[125],"upon":[126],"those":[127],"results,":[128],"develop":[130],"quasistatic":[132],"physics-based":[133],"model":[134,155],"for":[135],"3D":[137,208],"DEA-driven":[138],"bending":[140],"system.":[141],"It":[142],"proved":[144],"that":[145,171],"suitable":[147],"choice":[148],"geometric":[151],"parameters":[152],"allows":[153],"simulate":[157],"both":[158],"mono-stable":[159,189],"actuation.":[162],"Numerical":[163],"simulations":[164],"based":[165],"realistic":[167],"parameter":[168],"values":[169],"reveal":[170],"if":[172],"system":[174],"designed":[176],"static":[181],"significantly":[184],"larger":[185],"comparison":[187],"configurations.":[190],"Furthermore,":[191],"designs":[193],"give":[194],"rise":[195],"two":[197],"possible":[198],"large-bending":[199],"actuation":[200],"modes,":[201],"which":[202],"will":[203],"future":[207],"designs.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
