{"id":"https://openalex.org/W2051667099","doi":"https://doi.org/10.1109/robot.2010.5509936","title":"Low-temperature H&lt;inf&gt;2&lt;/inf&gt;O&lt;inf&gt;2&lt;/inf&gt;-powered actuators for biorobotics: Thermodynamic and kinetic analysis","display_name":"Low-temperature H&lt;inf&gt;2&lt;/inf&gt;O&lt;inf&gt;2&lt;/inf&gt;-powered actuators for biorobotics: Thermodynamic and kinetic analysis","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2051667099","doi":"https://doi.org/10.1109/robot.2010.5509936","mag":"2051667099"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509936","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5030705558","display_name":"Flavia Vitale","orcid":"https://orcid.org/0000-0001-8644-550X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Flavia Vitale","raw_affiliation_strings":["Department of Chemical Engineering, Materials & Environment, Universita La Sapienza, Rome, Italy","Department of Chemical Engineering, Materials & Environment, Universit\u00e0 \u201cLa Sapienza\u201d di Roma, via Eudossiana 18, 00184, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Chemical Engineering, Materials & Environment, Universita La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Chemical Engineering, Materials & Environment, Universit\u00e0 \u201cLa Sapienza\u201d di Roma, via Eudossiana 18, 00184, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018019710","display_name":"Dino Accoto","orcid":"https://orcid.org/0000-0001-9039-5488"},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Dino Accoto","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universita Campus Bio Medico Di Roma, Rome, Italy","Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universit\u00e0 Campus Bio-Medico di Roma, Via \u00c1lvaro del Portillo, 21 - 00128, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universita Campus Bio Medico Di Roma, Rome, Italy","institution_ids":["https://openalex.org/I155125353"]},{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universit\u00e0 Campus Bio-Medico di Roma, Via \u00c1lvaro del Portillo, 21 - 00128, Italy","institution_ids":["https://openalex.org/I155125353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055010771","display_name":"Luca Turchetti","orcid":"https://orcid.org/0000-0003-1448-9057"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Turchetti","raw_affiliation_strings":["Department of Chemical Engineering, Materials & Environment, Universita La Sapienza, Rome, Italy","Department of Chemical Engineering, Materials & Environment, Universit\u00e0 \u201cLa Sapienza\u201d di Roma, via Eudossiana 18, 00184, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Chemical Engineering, Materials & Environment, Universita La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Chemical Engineering, Materials & Environment, Universit\u00e0 \u201cLa Sapienza\u201d di Roma, via Eudossiana 18, 00184, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061409690","display_name":"Stefano Indini","orcid":null},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Indini","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universita Campus Bio Medico Di Roma, Rome, Italy","Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universit\u00e0 Campus Bio-Medico di Roma, Via \u00c1lvaro del Portillo, 21 - 00128, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universita Campus Bio Medico Di Roma, Rome, Italy","institution_ids":["https://openalex.org/I155125353"]},{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universit\u00e0 Campus Bio-Medico di Roma, Via \u00c1lvaro del Portillo, 21 - 00128, Italy","institution_ids":["https://openalex.org/I155125353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022145343","display_name":"Maria Cristina Annesini","orcid":"https://orcid.org/0000-0002-4624-7661"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Cristina Annesini","raw_affiliation_strings":["Department of Chemical Engineering, Materials & Environment, Universita La Sapienza, Rome, Italy","Department of Chemical Engineering, Materials & Environment, Universit\u00e0 \u201cLa Sapienza\u201d di Roma, via Eudossiana 18, 00184, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Chemical Engineering, Materials & Environment, Universita La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Chemical Engineering, Materials & Environment, Universit\u00e0 \u201cLa Sapienza\u201d di Roma, via Eudossiana 18, 00184, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062776728","display_name":"Eugenio Guglielmelli","orcid":"https://orcid.org/0000-0001-8258-6073"},"institutions":[{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"education","lineage":["https://openalex.org/I155125353"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eugenio Guglielmelli","raw_affiliation_strings":["Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universita Campus Bio Medico Di Roma, Rome, Italy","Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universit\u00e0 Campus Bio-Medico di Roma, Via \u00c1lvaro del Portillo, 21 - 00128, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universita Campus Bio Medico Di Roma, Rome, Italy","institution_ids":["https://openalex.org/I155125353"]},{"raw_affiliation_string":"Laboratory of Biomedical Robotics and Biomicrosystems, Faculty of Biomedical Engineering, Universit\u00e0 Campus Bio-Medico di Roma, Via \u00c1lvaro del Portillo, 21 - 00128, Italy","institution_ids":["https://openalex.org/I155125353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1047,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.77260982,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2197","last_page":"2202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9861999750137329,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9861999750137329,"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"}},{"id":"https://openalex.org/T12806","display_name":"Ocean Acidification Effects and Responses","score":0.9703999757766724,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11012","display_name":"Gas Dynamics and Kinetic Theory","score":0.9307000041007996,"subfield":{"id":"https://openalex.org/subfields/2604","display_name":"Applied Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"Kinetic energy","score":0.6354365348815918},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.5028893351554871},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4669227600097656},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.43924883008003235},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.4284498691558838},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24758851528167725},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.21225419640541077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11017265915870667}],"concepts":[{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.6354365348815918},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.5028893351554871},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4669227600097656},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.43924883008003235},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.4284498691558838},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24758851528167725},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.21225419640541077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11017265915870667},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509936","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509936","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/186547","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/186547","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1988620917","https://openalex.org/W2029496236","https://openalex.org/W2062650220","https://openalex.org/W2097759406","https://openalex.org/W2122839134","https://openalex.org/W2132738068","https://openalex.org/W2150430414"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2748952813","https://openalex.org/W1531601525","https://openalex.org/W2078814861","https://openalex.org/W2527526854","https://openalex.org/W2062208111","https://openalex.org/W1976181487","https://openalex.org/W1986764834"],"abstract_inverted_index":{"The":[0],"need":[1],"for":[2,81,155,164,213],"novel,":[3],"high":[4],"performance":[5],"actuators":[6],"felt":[7],"in":[8,57,88,97,121,187,194],"several":[9],"fields":[10],"of":[11,148,151,177,216],"robotics,":[12,18,89],"such":[13],"as":[14,79],"assistive":[15],"or":[16],"rehabilitative":[17],"is":[19,108,132,136,190,193],"not":[20,60],"fully":[21],"satisfied":[22],"by":[23,93,146],"current":[24],"actuation":[25],"means.":[26],"This":[27,65,83],"fosters":[28],"an":[29,161],"intense":[30],"research":[31],"on":[32,68],"novel":[33],"energy":[34,47],"transduction":[35],"methods.":[36],"In":[37,128],"particular,":[38],"propellant-based":[39],"chemical":[40,46,84],"actuators,":[41],"able":[42],"to":[43,124,138,208],"directly":[44],"convert":[45],"into":[48],"mechanical":[49],"energy,":[50],"appear":[51],"very":[52],"promising,":[53],"although":[54],"their":[55],"potential":[56],"robotics":[58],"has":[59],"yet":[61],"been":[62],"deeply":[63],"investigated.":[64],"work":[66],"focuses":[67],"H":[69,99,165,178,217],"<sub":[70,74,100,104,166,170,179,183,218,222],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[71,75,101,105,167,171,180,184,219,223],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sub>":[72,76,102,106,168,172,181,185,220,224],"O":[73,103,169,182,221],",":[77],"used":[78,87,207],"propellant":[80],"actuators.":[82,226],"was":[85],"first":[86],"with":[90,197],"excellent":[91],"results,":[92],"Goldfarb":[94],"and":[95],"collaborators,":[96],"2003.":[98],"dissociation":[107,186],"strongly":[109],"exothermic,":[110],"which":[111],"generates":[112],"important":[113],"design":[114],"issues":[115],"when":[116],"the":[117,125,140,203,210,214],"actuated":[118],"machine":[119],"operates":[120],"close":[122],"proximity":[123],"human":[126],"body.":[127],"this":[129],"paper":[130],"it":[131],"shown":[133],"that:":[134],"1)":[135],"possible":[137],"operate":[139],"decomposition":[141],"process":[142],"at":[143],"acceptable":[144],"temperature,":[145],"means":[147],"basic":[149,156,188],"solutions":[150,189],"hydrogen":[152],"peroxide;":[153],"2)":[154],"pH":[157],"solutions,":[158],"tin":[159],"becomes":[160],"effective":[162],"catalyst":[163],"dissociation.":[173],"A":[174],"kinetic":[175],"model":[176,204],"provided,":[191],"that":[192],"good":[195],"agreement":[196],"experimental":[198],"data.":[199],"We":[200],"show":[201],"how":[202],"can":[205],"be":[206],"gather":[209],"necessary":[211],"information":[212],"dimensioning":[215],"-based":[225]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}