{"id":"https://openalex.org/W4411019169","doi":"https://doi.org/10.1109/robosoft63089.2025.11020969","title":"A Bio-Inspired Distributed Optical Sensing Solution for Electrohydraulic Soft Continuum Robots","display_name":"A Bio-Inspired Distributed Optical Sensing Solution for Electrohydraulic Soft Continuum Robots","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019169","doi":"https://doi.org/10.1109/robosoft63089.2025.11020969"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020969","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/A5087512926","display_name":"Angella Volchko","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":true,"raw_author_name":"Angella Volchko","raw_affiliation_strings":["University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007754175","display_name":"Ingemar Schmidt","orcid":"https://orcid.org/0000-0003-0754-9656"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ingemar Schmidt","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Stuttgart,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Stuttgart,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","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":"J. Sean Humbert","raw_affiliation_strings":["University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309"],"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Mechanical Engineering,Boulder,CO,USA,80309","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087512926"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14339101,"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":"7"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9933000206947327,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/robot","display_name":"Robot","score":0.7269538640975952},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.542768120765686},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3530900478363037},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32222265005111694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2861996293067932},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2632550299167633}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7269538640975952},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.542768120765686},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3530900478363037},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32222265005111694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2861996293067932},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2632550299167633}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft63089.2025.11020969","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020969","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":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2003026435","https://openalex.org/W2047604659","https://openalex.org/W2219286031","https://openalex.org/W2267887714","https://openalex.org/W2560704029","https://openalex.org/W2782093158","https://openalex.org/W2883265247","https://openalex.org/W2945173737","https://openalex.org/W2953081104","https://openalex.org/W3012297501","https://openalex.org/W3035576118","https://openalex.org/W3080675481","https://openalex.org/W3091764022","https://openalex.org/W4210883899","https://openalex.org/W4225129755","https://openalex.org/W4225158217","https://openalex.org/W4234561867","https://openalex.org/W4285471655","https://openalex.org/W4385476004","https://openalex.org/W4402592574","https://openalex.org/W6747436534","https://openalex.org/W6768528161","https://openalex.org/W6776342966","https://openalex.org/W6842079652","https://openalex.org/W6855114559","https://openalex.org/W6870692881"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,131],"shift":[1],"from":[2,41],"conventional":[3],"rigid":[4],"robots":[5,8],"to":[6,32,80,91,115,144],"soft":[7,53,107,148],"is":[9],"in":[10,35,136],"part":[11],"motivated":[12],"by":[13],"the":[14,36,65,70,93,96],"desire":[15,25],"for":[16,51],"life-like":[17],"motion.":[18],"To":[19],"further":[20],"emulate":[21],"natural":[22],"systems,":[23],"we":[24,43],"tightly":[26],"integrated":[27],"distributed":[28,47],"sensory":[29],"networks,":[30],"akin":[31],"those":[33],"found":[34],"animal":[37],"kingdom.":[38],"Borrowing":[39],"inspiration":[40],"nature,":[42],"develop":[44],"a":[45,52,76,140],"two-part":[46],"optical":[48,132],"sensing":[49,108,133],"solution":[50,143],"continuum":[54],"robot":[55,97],"comprised":[56],"of":[57,69,95,112,147],"hydraulically-amplified":[58],"self-healing":[59],"electrostatic":[60],"actuators":[61],"(HASELs).":[62],"We":[63,87],"analyze":[64],"accuracy":[66],"and":[67,72,128],"precision":[68,127],"sensors":[71],"integrate":[73],"them":[74,113],"into":[75],"compact":[77],"robotic":[78],"platform":[79],"illustrate":[81],"their":[82,89,124],"compatability":[83],"with":[84,101,119],"HASEL":[85],"actuators.":[86],"demonstrate":[88],"ability":[90],"estimate":[92],"pose":[94],"end-effector":[98],"during":[99],"actuation":[100],"submillimeter":[102],"accuracy.":[103],"While":[104],"other":[105],"viable":[106],"options":[109],"exist,":[110],"many":[111],"tend":[114],"either":[116],"be":[117],"incompatible":[118],"electrohydraulic":[120,149],"systems":[121],"or":[122],"limit":[123],"speed,":[125],"compliance,":[126],"overall":[129],"performance.":[130],"approach":[134],"presented":[135],"this":[137],"work":[138],"provides":[139],"real-time":[141],"accurate":[142],"state":[145],"estimation":[146],"robots.":[150]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}