{"id":"https://openalex.org/W3163443358","doi":"https://doi.org/10.1126/scirobotics.abd6426","title":"Grasping with kirigami shells","display_name":"Grasping with kirigami shells","publication_year":2021,"publication_date":"2021-05-12","ids":{"openalex":"https://openalex.org/W3163443358","doi":"https://doi.org/10.1126/scirobotics.abd6426","mag":"3163443358","pmid":"https://pubmed.ncbi.nlm.nih.gov/34043535"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abd6426","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abd6426","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037956007","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-8187-7562"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042899815","display_name":"Katherine Vella","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine Vella","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032824164","display_name":"Douglas P. Holmes","orcid":"https://orcid.org/0000-0003-3870-6562"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Douglas P. Holmes","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032824164"],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":null,"apc_paid":null,"fwci":14.0809,"has_fulltext":false,"cited_by_count":191,"citation_normalized_percentile":{"value":0.99617569,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"6","issue":"54","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987999796867371,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9984999895095825,"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":0.9983000159263611,"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/geology","display_name":"Geology","score":0.39062657952308655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33303704857826233}],"concepts":[{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.39062657952308655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33303704857826233}],"mesh":[{"descriptor_ui":"D000080745","descriptor_name":"Smart Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000080745","descriptor_name":"Smart Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000080745","descriptor_name":"Smart Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000080762","descriptor_name":"Stimuli Responsive Polymers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000080762","descriptor_name":"Stimuli Responsive Polymers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000080762","descriptor_name":"Stimuli Responsive Polymers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011093","descriptor_name":"Polyethylene Terephthalates","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011093","descriptor_name":"Polyethylene Terephthalates","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011093","descriptor_name":"Polyethylene Terephthalates","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D013718","descriptor_name":"Tensile Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013718","descriptor_name":"Tensile Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013718","descriptor_name":"Tensile Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D020342","descriptor_name":"Finite Element Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D020342","descriptor_name":"Finite Element Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D020342","descriptor_name":"Finite Element Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D040761","descriptor_name":"Biomimetic Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D040761","descriptor_name":"Biomimetic Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D040761","descriptor_name":"Biomimetic Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055616","descriptor_name":"Microtechnology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055616","descriptor_name":"Microtechnology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055616","descriptor_name":"Microtechnology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057005","descriptor_name":"Bioengineering","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057005","descriptor_name":"Bioengineering","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057005","descriptor_name":"Bioengineering","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.abd6426","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abd6426","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:34043535","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34043535","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}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2523616616","display_name":null,"funder_award_id":"CMMI-1824882","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G7220178253","display_name":null,"funder_award_id":"CMMI-1824882","funder_id":"https://openalex.org/F4320332179","funder_display_name":"Office of the Director"}],"funders":[{"id":"https://openalex.org/F4320332179","display_name":"Office of the Director","ror":"https://ror.org/04nseet23"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1609920162","https://openalex.org/W1820657498","https://openalex.org/W1854459117","https://openalex.org/W1888892744","https://openalex.org/W1976221960","https://openalex.org/W1984187759","https://openalex.org/W1994217488","https://openalex.org/W2007924815","https://openalex.org/W2050222383","https://openalex.org/W2080551943","https://openalex.org/W2086131285","https://openalex.org/W2088420821","https://openalex.org/W2094054566","https://openalex.org/W2119343887","https://openalex.org/W2144573888","https://openalex.org/W2146538427","https://openalex.org/W2166585449","https://openalex.org/W2171995939","https://openalex.org/W2282481780","https://openalex.org/W2342392491","https://openalex.org/W2383888765","https://openalex.org/W2491939967","https://openalex.org/W2512216316","https://openalex.org/W2519437300","https://openalex.org/W2556078315","https://openalex.org/W2564130887","https://openalex.org/W2570708084","https://openalex.org/W2584376302","https://openalex.org/W2585466334","https://openalex.org/W2620244975","https://openalex.org/W2625731136","https://openalex.org/W2737052725","https://openalex.org/W2774943527","https://openalex.org/W2784648116","https://openalex.org/W2790084889","https://openalex.org/W2794332309","https://openalex.org/W2794496234","https://openalex.org/W2801704144","https://openalex.org/W2802695546","https://openalex.org/W2803735436","https://openalex.org/W2807695615","https://openalex.org/W2883771065","https://openalex.org/W2891089476","https://openalex.org/W2909857791","https://openalex.org/W2969211246","https://openalex.org/W2970521931","https://openalex.org/W2978055385","https://openalex.org/W2978608826","https://openalex.org/W2995167177","https://openalex.org/W3010777190","https://openalex.org/W3013962757","https://openalex.org/W3098350030","https://openalex.org/W3102944743","https://openalex.org/W3105961605","https://openalex.org/W4211124276","https://openalex.org/W4248886868"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2324615561","https://openalex.org/W2086120259","https://openalex.org/W2390279801","https://openalex.org/W2245170124","https://openalex.org/W2076393078","https://openalex.org/W4391913857","https://openalex.org/W2358668433"],"abstract_inverted_index":{"The":[0,60,119],"ability":[1],"to":[2,89,140],"grab,":[3],"hold,":[4],"and":[5,11,16,33,36,41,71,81,93,136,151,156,165],"manipulate":[6],"objects":[7],"is":[8,47,64],"a":[9,22,26,74,116,125],"vital":[10],"fundamental":[12],"operation":[13],"in":[14,124,134,138,162],"biological":[15],"engineering":[17],"systems.":[18],"Here,":[19],"we":[20],"present":[21],"soft":[23,45,155],"gripper":[24,46,87,102,143],"using":[25,73,115],"simple":[27,126],"material":[28,94],"system":[29],"that":[30,98,129],"enables":[31,85],"precise":[32],"rapid":[34],"grasping,":[35],"can":[37,103,130],"be":[38,90,104,131],"miniaturized,":[39],"modularized,":[40],"remotely":[42,113],"actuated.":[43],"This":[44],"based":[48],"on":[49],"kirigami":[50,61,100,120,142],"shells-thin,":[51],"elastic":[52],"shells":[53],"patterned":[54],"with":[55,107],"an":[56,108],"array":[57],"of":[58,76,146],"cuts.":[59],"cut":[62,121],"pattern":[63,122],"determined":[65],"by":[66],"evaluating":[67],"the":[68,86,99],"shell's":[69],"mechanics":[70],"geometry,":[72],"combination":[75],"experiments,":[77],"finite":[78],"element":[79],"simulations,":[80],"theoretical":[82],"modeling,":[83],"which":[84],"design":[88],"both":[91],"scalable":[92],"independent.":[95],"We":[96],"demonstrate":[97],"shell":[101],"readily":[105],"integrated":[106],"existing":[109],"robotic":[110],"platform":[111],"or":[112],"actuated":[114],"magnetic":[117],"field.":[118],"results":[123],"unit":[127],"cell":[128],"connected":[132],"together":[133],"series,":[135],"again":[137],"parallel,":[139],"create":[141],"arrays":[144],"capable":[145],"simultaneously":[147],"grasping":[148],"multiple":[149],"delicate":[150],"slippery":[152],"objects.":[153],"These":[154],"lightweight":[157],"grippers":[158],"will":[159],"have":[160],"applications":[161],"robotics,":[163],"haptics,":[164],"biomedical":[166],"device":[167],"design.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":57},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":45},{"year":2022,"cited_by_count":32},{"year":2021,"cited_by_count":9}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}