{"id":"https://openalex.org/W7164522353","doi":"https://doi.org/10.1109/tase.2026.3703340","title":"Novel Self-Sealing Mechanisms for Suction Cup-Based Soft Robotic Gripping","display_name":"Novel Self-Sealing Mechanisms for Suction Cup-Based Soft Robotic Gripping","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7164522353","doi":"https://doi.org/10.1109/tase.2026.3703340"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3703340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3703340","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5042665366","display_name":"Jia Guo","orcid":"https://orcid.org/0009-0009-1742-5471"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Guo","raw_affiliation_strings":["School of Medical Science and Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-6758-7709","affiliations":[{"raw_affiliation_string":"School of Medical Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I202334528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052218475","display_name":"J LIU","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Liu","raw_affiliation_strings":["School of Medical Science and Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Medical Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I202334528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065359769","display_name":"Fengze Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I202334528","display_name":"Beijing Electronic Science and Technology Institute","ror":"https://ror.org/01xdzh226","country_code":"CN","type":"education","lineage":["https://openalex.org/I202334528"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengze Lv","raw_affiliation_strings":["School of Medical Science and Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Medical Science and Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I202334528"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.70755729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"11196","last_page":"11209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9103000164031982,"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":0.9103000164031982,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.028300000354647636,"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/T11138","display_name":"Tribology and Lubrication Engineering","score":0.005200000014156103,"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/grippers","display_name":"Grippers","score":0.656499981880188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47429999709129333},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.45089998841285706},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.41110000014305115},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.3580999970436096},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.33149999380111694}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.656499981880188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47429999709129333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4659000039100647},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.45089998841285706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43689998984336853},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4275999963283539},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.41110000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4020000100135803},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3580999970436096},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.33149999380111694},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.290800005197525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2784999907016754},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.26409998536109924},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.259799987077713},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25699999928474426},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2531999945640564},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3703340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3703340","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5085272035","display_name":null,"funder_award_id":"E2025105035","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G976587305","display_name":null,"funder_award_id":"SKLRS-2025-KF-04","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"}],"funders":[{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Suction":[0],"cups":[1,24,42,98,135,171,191],"are":[2,25],"widely":[3],"adopted":[4],"in":[5,15,47,136,160],"robotic":[6,234],"gripping":[7,197,235],"systems":[8],"due":[9],"to":[10,27,34,90,99,108,173,229],"their":[11,195,222,227],"adaptability":[12],"and":[13,31,81,157,198,212,224,231],"effectiveness":[14],"handling":[16],"automated":[17],"object":[18],"manipulation":[19],"tasks.":[20],"Typically,":[21],"multiple":[22,40],"suction":[23,41,56,64,91,97,134,144,170,190],"employed":[26],"achieve":[28],"enhanced":[29],"adhesion":[30],"improved":[32],"conformity":[33],"irregularly":[35],"shaped":[36],"objects.":[37],"However,":[38],"utilizing":[39],"often":[43],"introduces":[44],"significant":[45],"challenges":[46],"ensuring":[48],"airtight":[49],"sealing.":[50],"Even":[51],"minor":[52],"gaps":[53],"at":[54],"the":[55,130,151,205,216],"cup-object":[57],"interface":[58],"can":[59,180],"severely":[60],"compromise":[61],"airtightness,":[62,166],"causing":[63],"failure.":[65],"To":[66],"address":[67],"these":[68],"challenges,":[69],"this":[70],"study":[71],"proposes":[72],"two":[73],"novel":[74],"self-sealing":[75,88,217],"mechanisms,":[76],"termed":[77],"SSM-NO":[78,94,156],"(Normally":[79,83],"Open)":[80],"SSM-NC":[82,131,158],"Closed),":[84],"which":[85],"provide":[86],"intrinsic":[87],"functionalities":[89],"cups.":[92],"The":[93],"mechanism":[95,132],"allows":[96],"remain":[100],"open":[101],"during":[102],"normal":[103],"operation":[104],"but":[105],"automatically":[106],"transitions":[107],"a":[109,137],"self-sealed":[110],"condition":[111],"upon":[112,146],"negative":[113,141],"pressure":[114],"application":[115],"if":[116],"an":[117],"adequate":[118],"seal":[119],"is":[120],"not":[121],"initially":[122],"established,":[123],"thereby":[124],"effectively":[125],"preventing":[126],"air":[127],"leakage.":[128],"Conversely,":[129],"maintains":[133],"closed":[138],"state":[139],"under":[140],"pressure,":[142],"activating":[143],"only":[145],"slight":[147],"physical":[148],"contact":[149],"with":[150],"target":[152],"object.":[153],"Integrating":[154],"both":[155],"mechanisms":[159,179],"series":[161],"further":[162],"enhances":[163],"vacuum":[164],"line":[165],"even":[167],"when":[168],"SSM-NC-equipped":[169],"fail":[172],"secure":[174],"proper":[175],"adhesion.":[176],"Both":[177],"proposed":[178],"be":[181],"readily":[182],"integrated":[183],"into":[184],"various":[185],"customized":[186],"or":[187],"commercially":[188],"available":[189],"without":[192],"negatively":[193],"impacting":[194],"standard":[196],"releasing":[199],"performance.":[200],"This":[201],"paper":[202],"thoroughly":[203],"details":[204],"design":[206],"principles,":[207],"operational":[208],"theory,":[209],"analytical":[210],"validations,":[211],"manufacturing":[213],"methods":[214],"of":[215],"mechanisms.":[218],"Experimental":[219],"evaluations":[220],"confirm":[221],"feasibility":[223],"effectiveness,":[225],"demonstrating":[226],"potential":[228],"simplify":[230],"improve":[232],"suction-based":[233],"systems.":[236]},"counts_by_year":[],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2026-06-13T00:00:00"}
