{"id":"https://openalex.org/W2752165401","doi":"https://doi.org/10.1126/scirobotics.aan6357","title":"New soft robots really suck: Vacuum-powered systems empower diverse capabilities","display_name":"New soft robots really suck: Vacuum-powered systems empower diverse capabilities","publication_year":2017,"publication_date":"2017-08-16","ids":{"openalex":"https://openalex.org/W2752165401","doi":"https://doi.org/10.1126/scirobotics.aan6357","mag":"2752165401","pmid":"https://pubmed.ncbi.nlm.nih.gov/33157853"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aan6357","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aan6357","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/230432","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058103003","display_name":"Matthew A. Robertson","orcid":"https://orcid.org/0000-0002-2778-7232"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Matthew A. Robertson","raw_affiliation_strings":["Reconfigurable Robotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, 1015 Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, 1015 Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025220023","display_name":"Jamie Paik","orcid":"https://orcid.org/0000-0003-3869-213X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jamie Paik","raw_affiliation_strings":["Reconfigurable Robotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, 1015 Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Reconfigurable Robotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, 1015 Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5025220023"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":15.1725,"has_fulltext":false,"cited_by_count":338,"citation_normalized_percentile":{"value":0.99517935,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":"9","first_page":null,"last_page":null},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9993000030517578,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9932000041007996,"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/soft-robotics","display_name":"Soft robotics","score":0.697285532951355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6546351909637451},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6142992973327637},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.5020890235900879},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4775617718696594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42058122158050537},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.42035651206970215},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3919517397880554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36465758085250854},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3529101610183716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2275041937828064}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.697285532951355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6546351909637451},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6142992973327637},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.5020890235900879},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4775617718696594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42058122158050537},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.42035651206970215},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3919517397880554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36465758085250854},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3529101610183716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2275041937828064}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.aan6357","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aan6357","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33157853","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33157853","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:infoscience.epfl.ch:230432","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/230432","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:230432","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/230432","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G2296882981","display_name":null,"funder_award_id":"205321_163292","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G6117887227","display_name":null,"funder_award_id":"award314611","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W198676126","https://openalex.org/W1481084627","https://openalex.org/W1500588313","https://openalex.org/W1515749184","https://openalex.org/W1812391728","https://openalex.org/W1813978871","https://openalex.org/W1900860620","https://openalex.org/W1946746497","https://openalex.org/W1969583232","https://openalex.org/W1984187759","https://openalex.org/W1985124115","https://openalex.org/W2003653926","https://openalex.org/W2007924815","https://openalex.org/W2008156858","https://openalex.org/W2021773072","https://openalex.org/W2022266955","https://openalex.org/W2036723211","https://openalex.org/W2070184318","https://openalex.org/W2074207981","https://openalex.org/W2074535625","https://openalex.org/W2079830044","https://openalex.org/W2090252028","https://openalex.org/W2098768009","https://openalex.org/W2120934473","https://openalex.org/W2124540383","https://openalex.org/W2124992704","https://openalex.org/W2127966735","https://openalex.org/W2129171663","https://openalex.org/W2134753324","https://openalex.org/W2141905643","https://openalex.org/W2149010019","https://openalex.org/W2161573903","https://openalex.org/W2166585449","https://openalex.org/W2184993170","https://openalex.org/W2188087069","https://openalex.org/W2237543528","https://openalex.org/W2261762767","https://openalex.org/W2281127276","https://openalex.org/W2344522734","https://openalex.org/W2404551507","https://openalex.org/W2417663692","https://openalex.org/W2517207750","https://openalex.org/W2520982900","https://openalex.org/W2524719417","https://openalex.org/W2527987328","https://openalex.org/W2531880856","https://openalex.org/W2545928437","https://openalex.org/W2560730116","https://openalex.org/W2563723208","https://openalex.org/W4244367163"],"related_works":["https://openalex.org/W3134474396","https://openalex.org/W4385439013","https://openalex.org/W4296449477","https://openalex.org/W1515749184","https://openalex.org/W4367041227","https://openalex.org/W4285221039","https://openalex.org/W3104152360","https://openalex.org/W3094251759","https://openalex.org/W3117219792","https://openalex.org/W3175143761"],"abstract_inverted_index":{"We":[0,63,102],"introduce":[1],"a":[2,10,75,93,114,133,145],"vacuum-powered":[3,107],"soft":[4,19,139,160,189],"pneumatic":[5,140],"actuator":[6,70],"(V-SPA)":[7],"that":[8,104],"leverages":[9],"single,":[11],"shared":[12],"vacuum":[13,39,131],"power":[14,136],"supply":[15],"and":[16,28,43,84,122,128,142,163,173],"enables":[17],"complex":[18,187],"robotic":[20,190],"systems":[21],"with":[22,92,98],"multiple":[23,82],"degrees":[24],"of":[25,67,74,88,116,130,155,167,184],"freedom":[26],"(DoFs)":[27],"diverse":[29],"functions.":[30],"In":[31],"addition":[32],"to":[33,55,112,178],"actuation,":[34],"other":[35],"utilities":[36],"enabled":[37],"by":[38],"pressure":[40],"include":[41],"gripping":[42],"stiffening":[44],"through":[45,71],"granular":[46],"media":[47],"jamming,":[48],"as":[49,51,132],"well":[50],"direct":[52,72],"suction":[53],"adhesion":[54],"smooth":[56],"surfaces,":[57],"for":[58,138,171],"manipulation":[59],"or":[60],"vertical":[61],"fixation.":[62],"investigate":[64],"the":[65,68,86,126,153,165,180],"performance":[66],"new":[69],"characterization":[73],"3-DoF,":[76],"plug-and-play":[77],"V-SPA":[78],"Module":[79],"built":[80],"from":[81],"V-SPAs":[83,156],"demonstrate":[85],"integration":[87],"different":[89,106],"vacuum-enabled":[90],"capabilities":[91,162],"continuum-style":[94],"robot":[95,161],"platform":[96],"outfitted":[97],"modular":[99],"peripheral":[100,146],"mechanisms.":[101],"show":[103],"these":[105],"modules":[108],"can":[109],"be":[110],"combined":[111],"achieve":[113],"variety":[115],"tasks-including":[117],"multimodal":[118],"locomotion,":[119],"object":[120],"manipulation,":[121],"stiffness":[123],"tuning-to":[124],"illustrate":[125],"utility":[127],"viability":[129],"singular":[134],"alternative":[135],"source":[137],"robots":[141],"not":[143],"just":[144],"feature":[147],"in":[148,157],"itself.":[149],"Our":[150],"results":[151],"highlight":[152],"effectiveness":[154],"providing":[158],"core":[159],"facilitating":[164],"consolidation":[166],"previously":[168],"disparate":[169],"subsystems":[170],"actuation":[172],"various":[174],"specialized":[175],"tasks,":[176],"conducive":[177],"improving":[179],"compact":[181],"design":[182],"efficiency":[183],"larger,":[185],"more":[186],"multifunctional":[188],"systems.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":48},{"year":2022,"cited_by_count":55},{"year":2021,"cited_by_count":44},{"year":2020,"cited_by_count":37},{"year":2019,"cited_by_count":45},{"year":2018,"cited_by_count":32},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}