{"id":"https://openalex.org/W4295036252","doi":"https://doi.org/10.1109/tro.2022.3200164","title":"Embedded Magnetic Sensing for Feedback Control of Soft HASEL Actuators","display_name":"Embedded Magnetic Sensing for Feedback Control of Soft HASEL Actuators","publication_year":2022,"publication_date":"2022-09-09","ids":{"openalex":"https://openalex.org/W4295036252","doi":"https://doi.org/10.1109/tro.2022.3200164"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3200164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3200164","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5043334100","display_name":"Vani Sundaram","orcid":"https://orcid.org/0000-0002-5040-0526"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vani Sundaram","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040368638","display_name":"Khoi Ly","orcid":"https://orcid.org/0000-0001-5795-2705"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Khoi Ly","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027505300","display_name":"Brian K. Johnson","orcid":"https://orcid.org/0000-0002-0973-0937"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian K. Johnson","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065590647","display_name":"Mantas Naris","orcid":"https://orcid.org/0000-0003-1826-7611"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mantas Naris","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001870346","display_name":"Maxwell P. Anderson","orcid":"https://orcid.org/0000-0003-2282-6367"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxwell P. Anderson","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073287604","display_name":"J. Sean Humbert","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Sean Humbert","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047458039","display_name":"Nikolaus Correll","orcid":"https://orcid.org/0000-0002-1911-9277"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikolaus Correll","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA","Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"Materials Science and Engineering Program, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041822706","display_name":"Mark E. Rentschler","orcid":"https://orcid.org/0000-0002-5901-8358"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Rentschler","raw_affiliation_strings":["Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5043334100"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.9608,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.7114643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"39","issue":"1","first_page":"808","last_page":"822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9921000003814697,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/actuator","display_name":"Actuator","score":0.871328592300415},{"id":"https://openalex.org/keywords/capacitive-sensing","display_name":"Capacitive sensing","score":0.807640016078949},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6152644157409668},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5182621479034424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4922317564487457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46512508392333984},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.45295417308807373},{"id":"https://openalex.org/keywords/electro-hydraulic-actuator","display_name":"Electro-hydraulic actuator","score":0.4387417435646057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40449848771095276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38911619782447815},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.36403119564056396},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2525671124458313},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2444947361946106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1959727704524994},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14865893125534058},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13845235109329224}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.871328592300415},{"id":"https://openalex.org/C206755178","wikidata":"https://www.wikidata.org/wiki/Q1131271","display_name":"Capacitive sensing","level":2,"score":0.807640016078949},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6152644157409668},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5182621479034424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4922317564487457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46512508392333984},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.45295417308807373},{"id":"https://openalex.org/C53432115","wikidata":"https://www.wikidata.org/wiki/Q5357907","display_name":"Electro-hydraulic actuator","level":3,"score":0.4387417435646057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40449848771095276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38911619782447815},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.36403119564056396},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2525671124458313},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2444947361946106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1959727704524994},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14865893125534058},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13845235109329224},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3200164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3200164","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1518208132","https://openalex.org/W1978463242","https://openalex.org/W2040335183","https://openalex.org/W2054628872","https://openalex.org/W2072572771","https://openalex.org/W2100777869","https://openalex.org/W2124540383","https://openalex.org/W2139356817","https://openalex.org/W2216138881","https://openalex.org/W2327594626","https://openalex.org/W2403249444","https://openalex.org/W2489495004","https://openalex.org/W2510090742","https://openalex.org/W2560704029","https://openalex.org/W2574063486","https://openalex.org/W2593449663","https://openalex.org/W2604835915","https://openalex.org/W2739320368","https://openalex.org/W2781516556","https://openalex.org/W2782093158","https://openalex.org/W2784648116","https://openalex.org/W2795456897","https://openalex.org/W2803735436","https://openalex.org/W2809500324","https://openalex.org/W2883279767","https://openalex.org/W2890439746","https://openalex.org/W2909034794","https://openalex.org/W2909573358","https://openalex.org/W2909707853","https://openalex.org/W2913446864","https://openalex.org/W2921336921","https://openalex.org/W2938186315","https://openalex.org/W2944261653","https://openalex.org/W2953081104","https://openalex.org/W2963486077","https://openalex.org/W2965456331","https://openalex.org/W2968879538","https://openalex.org/W2980849691","https://openalex.org/W2999325808","https://openalex.org/W3012297501","https://openalex.org/W3018423233","https://openalex.org/W3035006286","https://openalex.org/W3036594271","https://openalex.org/W3038425751","https://openalex.org/W3087167655","https://openalex.org/W3091764022","https://openalex.org/W3099274860","https://openalex.org/W3106797099","https://openalex.org/W3119970944","https://openalex.org/W3127171952","https://openalex.org/W3130589561","https://openalex.org/W3131530865","https://openalex.org/W3134518382","https://openalex.org/W3143676735","https://openalex.org/W3152726255","https://openalex.org/W3152955062","https://openalex.org/W3160595376","https://openalex.org/W3196910092","https://openalex.org/W4211124276","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W1529731471","https://openalex.org/W2066459308","https://openalex.org/W2625310146","https://openalex.org/W2364226584","https://openalex.org/W2645158927","https://openalex.org/W4233104623","https://openalex.org/W2684987645","https://openalex.org/W2294659468","https://openalex.org/W2089292826","https://openalex.org/W2188593406"],"abstract_inverted_index":{"The":[0,141,229],"need":[1],"to":[2,32,47,56,71,92,127,133,231,247],"create":[3],"more":[4,232],"viable":[5],"soft":[6,17,37,243],"sensors":[7],"is":[8,45,149,187,245],"increasing":[9],"in":[10,16,96,135,153,166,211],"tandem":[11],"with":[12],"the":[13,54,59,75,94,114,145,154,167,184,217,249],"growing":[14],"interest":[15],"robots.":[18],"Several":[19],"sensing":[20,25,90,105,147,159,221,227],"methods,":[21],"like":[22],"capacitive":[23,28],"stretch":[24],"and":[26,73,111,119,138,201,234,237,241],"intrinsic":[27],"self-sensing,":[29],"have":[30],"proven":[31],"be":[33],"useful":[34],"when":[35,69],"controlling":[36],"electro-hydraulic":[38,100,222],"actuators,":[39],"but":[40],"are":[41,67],"still":[42],"problematic.":[43],"This":[44,214],"due":[46],"challenges":[48],"around":[49],"high-voltage":[50],"electronic":[51],"interference":[52],"or":[53],"inability":[55],"accurately":[57,120,233],"sense":[58,72,236],"actuator":[60,116,182,200],"at":[61,123],"higher":[62],"actuation":[63,124],"frequencies.":[64],"These":[65],"issues":[66],"compounded":[68],"trying":[70],"control":[74,177,205,238],"movement":[76],"of":[77,98,144,169,178,195,220,251],"a":[78,87,191,206,225],"multiactuator":[79],"system.":[80],"To":[81],"address":[82],"these":[83],"shortcomings,":[84],"we":[85,161,173],"describe":[86],"two-part":[88],"magnetic":[89,104,146,226],"mechanism":[91,106,148],"measure":[93],"changes":[95,134],"displacement":[97,117],"an":[99],"(HASEL)":[101],"actuator.":[102],"Our":[103],"can":[107,162],"achieve":[108],"high":[109,142],"accuracy":[110,143],"precision":[112],"for":[113],"HASEL":[115,181,199,239],"range,":[118],"tracks":[121],"motion":[122],"frequencies":[125],"up":[126],"30":[128],"Hz,":[129],"while":[130],"being":[131],"robust":[132],"ambient":[136],"temperature":[137],"relative":[139],"humidity.":[140],"also":[150],"further":[151],"emphasized":[152],"gripper":[155],"demonstration.":[156],"Using":[157],"this":[158],"mechanism,":[160],"detect":[163],"submillimeter":[164],"difference":[165],"diameters":[168],"three":[170],"tomatoes.":[171],"Finally,":[172],"successfully":[174],"perform":[175],"closed-loop":[176],"one":[179,202],"folded":[180],"using":[183,224],"sensor,":[185],"which":[186],"then":[188],"scaled":[189],"into":[190],"deformable":[192],"tilting":[193],"platform":[194],"six":[196],"units":[197],"(one":[198],"sensor)":[203],"that":[204],"desired":[207],"end":[208],"effector":[209],"position":[210],"3D":[212],"space.":[213],"work":[215],"demonstrates":[216],"first":[218],"instance":[219],"deformation":[223],"mechanism.":[228],"ability":[230],"precisely":[235],"actuators":[240,244],"similar":[242],"necessary":[246],"improve":[248],"abilities":[250],"soft,":[252],"robotic":[253],"platforms.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}