{"id":"https://openalex.org/W4310589006","doi":"https://doi.org/10.1126/scirobotics.abo2179","title":"A mechanics-based approach to realize high\u2013force capacity electroadhesives for robots","display_name":"A mechanics-based approach to realize high\u2013force capacity electroadhesives for robots","publication_year":2022,"publication_date":"2022-11-30","ids":{"openalex":"https://openalex.org/W4310589006","doi":"https://doi.org/10.1126/scirobotics.abo2179","pmid":"https://pubmed.ncbi.nlm.nih.gov/36449630"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abo2179","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abo2179","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/A5090289223","display_name":"David J. Levine","orcid":"https://orcid.org/0000-0002-4161-8830"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David J. Levine","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001834117","display_name":"Gokulanand M. Iyer","orcid":"https://orcid.org/0000-0003-1943-7678"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gokulanand M. Iyer","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003257505","display_name":"R. Daelan Roosa","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Daelan Roosa","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022108747","display_name":"Kevin T. Turner","orcid":"https://orcid.org/0000-0003-4963-4568"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kevin T. Turner","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045000129","display_name":"James H. Pikul","orcid":"https://orcid.org/0000-0002-7018-2925"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"James H. Pikul","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022108747","https://openalex.org/A5045000129"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":3.3408,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.93091635,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"7","issue":"72","first_page":"eabo2179","last_page":"eabo2179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9994999766349792,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.9962999820709229,"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/clutch","display_name":"Clutch","score":0.9518334269523621},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7520511150360107},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.5181916356086731},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5074447989463806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4370112717151642},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3482831120491028},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3214831054210663},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.298639178276062},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24607732892036438},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16221585869789124},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13584136962890625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12150901556015015}],"concepts":[{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.9518334269523621},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7520511150360107},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.5181916356086731},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5074447989463806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4370112717151642},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3482831120491028},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3214831054210663},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.298639178276062},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24607732892036438},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16221585869789124},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13584136962890625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12150901556015015}],"mesh":[{"descriptor_ui":"D001860","descriptor_name":"Bone Plates","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001860","descriptor_name":"Bone Plates","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001860","descriptor_name":"Bone Plates","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005385","descriptor_name":"Fingers","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":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D050723","descriptor_name":"Fractures, Bone","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D050723","descriptor_name":"Fractures, Bone","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D050723","descriptor_name":"Fractures, Bone","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055672","descriptor_name":"Static Electricity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055672","descriptor_name":"Static Electricity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055672","descriptor_name":"Static Electricity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.abo2179","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abo2179","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:36449630","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36449630","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1958341028","https://openalex.org/W1974528433","https://openalex.org/W1983552589","https://openalex.org/W1984187759","https://openalex.org/W1996386520","https://openalex.org/W2037040092","https://openalex.org/W2054628872","https://openalex.org/W2058074226","https://openalex.org/W2070268063","https://openalex.org/W2090637319","https://openalex.org/W2117957160","https://openalex.org/W2125131326","https://openalex.org/W2131396150","https://openalex.org/W2133639509","https://openalex.org/W2138107008","https://openalex.org/W2145745703","https://openalex.org/W2278945259","https://openalex.org/W2328105122","https://openalex.org/W2339355826","https://openalex.org/W2418295831","https://openalex.org/W2507460368","https://openalex.org/W2520982900","https://openalex.org/W2564925246","https://openalex.org/W2566770954","https://openalex.org/W2607462660","https://openalex.org/W2751330890","https://openalex.org/W2760117801","https://openalex.org/W2763816982","https://openalex.org/W2767825821","https://openalex.org/W2784648116","https://openalex.org/W2883132479","https://openalex.org/W2891022700","https://openalex.org/W2892123002","https://openalex.org/W2896709460","https://openalex.org/W2897561735","https://openalex.org/W2898186482","https://openalex.org/W2904979905","https://openalex.org/W2909662786","https://openalex.org/W2950250349","https://openalex.org/W2970521931","https://openalex.org/W2995522041","https://openalex.org/W2997361094","https://openalex.org/W3012966102","https://openalex.org/W3024247016","https://openalex.org/W3045105376","https://openalex.org/W3135013507","https://openalex.org/W3179596296","https://openalex.org/W3190977849","https://openalex.org/W3213400756"],"related_works":["https://openalex.org/W3108645022","https://openalex.org/W2362877944","https://openalex.org/W2604525045","https://openalex.org/W1841497340","https://openalex.org/W104615690","https://openalex.org/W3168655051","https://openalex.org/W4205311664","https://openalex.org/W2188961778","https://openalex.org/W192403031","https://openalex.org/W2162962017"],"abstract_inverted_index":{"Materials":[0],"with":[1,121,160],"electroprogrammable":[2],"stiffness":[3,18,35],"and":[4,19,42,69,91,96,108],"adhesion":[5],"can":[6,31],"enhance":[7],"the":[8,86,112,124,138,145],"performance":[9,104],"of":[10,114,131,140,148,156],"robotic":[11],"systems,":[12],"but":[13],"achieving":[14],"large":[15],"changes":[16],"in":[17,22,53],"adhesive":[20],"forces":[21],"real":[23],"time":[24],"is":[25,58],"an":[26,164],"ongoing":[27],"challenge.":[28],"Electroadhesive":[29],"clutches":[30,57],"rapidly":[32],"adhere":[33],"high":[34,43],"elements,":[36],"although":[37],"their":[38,48],"low":[39],"force":[40,67,92,125,130],"capacities":[41],"activation":[44],"voltages":[45],"have":[46],"limited":[47],"applications.":[49],"A":[50],"major":[51],"challenge":[52],"realizing":[54],"stronger":[55],"electroadhesive":[56,133],"that":[59,101],"current":[60],"parallel":[61],"plate":[62],"models":[63],"poorly":[64],"predict":[65],"clutch":[66,89,103,120],"capacity":[68,126,147],"cannot":[70],"be":[71],"used":[72],"to":[73,84,143],"design":[74,90],"better":[75],"devices.":[76],"Here,":[77],"we":[78,117,136],"use":[79],"a":[80,98,119,149,154,161],"fracture":[81],"mechanics":[82],"framework":[83],"understand":[85],"relationship":[87],"between":[88],"capacity.":[93],"We":[94],"demonstrate":[95,137],"verify":[97],"mechanics-based":[99],"model":[100],"predicts":[102],"across":[105],"multiple":[106],"geometries":[107],"applied":[109],"voltages.":[110],"On":[111],"basis":[113],"this":[115],"approach,":[116],"build":[118],"63":[122],"times":[123,158],"per":[127],"unit":[128],"electrostatic":[129],"state-of-the-art":[132],"clutches.":[134],"Last,":[135],"ability":[139],"our":[141],"electroadhesives":[142],"increase":[144],"load":[146],"soft,":[150],"pneumatic":[151],"finger":[152,162],"by":[153],"factor":[155],"27":[157],"compared":[159],"without":[163],"electroadhesive.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":6}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}
