{"id":"https://openalex.org/W4400726270","doi":"https://doi.org/10.1126/scirobotics.adl0307","title":"Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation","display_name":"Scale-inspired programmable robotic structures with concurrent shape morphing and stiffness variation","publication_year":2024,"publication_date":"2024-07-17","ids":{"openalex":"https://openalex.org/W4400726270","doi":"https://doi.org/10.1126/scirobotics.adl0307","pmid":"https://pubmed.ncbi.nlm.nih.gov/39018371"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adl0307","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adl0307","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":"https://dr.ntu.edu.sg/bitstream/10356/179261/2/Accepted%20manuscript.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100371622","display_name":"Tianyu Chen","orcid":"https://orcid.org/0000-0002-3670-1824"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tianyu Chen","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056180152","display_name":"Xudong Yang","orcid":"https://orcid.org/0000-0003-1765-0758"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xudong Yang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101589172","display_name":"Bojian Zhang","orcid":"https://orcid.org/0000-0003-3605-3772"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bojian Zhang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015210605","display_name":"Junwei Li","orcid":"https://orcid.org/0000-0003-4493-3817"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Junwei Li","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653867","display_name":"Jie Pan","orcid":"https://orcid.org/0000-0002-2031-7932"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jie Pan","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042320938","display_name":"Yifan Wang","orcid":"https://orcid.org/0000-0003-2284-520X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yifan Wang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042320938"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":17.1575,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.9955168,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"92","first_page":"eadl0307","last_page":"eadl0307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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/morphing","display_name":"Morphing","score":0.8437908887863159},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7026667594909668},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.6695374250411987},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6265011429786682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6131309270858765},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.5504888892173767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5239477157592773},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5064526796340942},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4962671399116516},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43661853671073914},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.34650957584381104},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3207671046257019},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32035455107688904},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3135569095611572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29813265800476074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1882951259613037},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1504463255405426}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.8437908887863159},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7026667594909668},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.6695374250411987},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6265011429786682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6131309270858765},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.5504888892173767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239477157592773},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5064526796340942},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4962671399116516},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43661853671073914},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.34650957584381104},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3207671046257019},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32035455107688904},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3135569095611572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29813265800476074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1882951259613037},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1504463255405426},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.adl0307","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adl0307","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:39018371","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39018371","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:dr.ntu.edu.sg:10356/179261","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/179261","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/179261/2/Accepted%20manuscript.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/179261","is_oa":true,"landing_page_url":"https://hdl.handle.net/10356/179261","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/179261/2/Accepted%20manuscript.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.800000011920929,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400726270.pdf"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1541112841","https://openalex.org/W1606846501","https://openalex.org/W1847353717","https://openalex.org/W1966705057","https://openalex.org/W1984187759","https://openalex.org/W2010569445","https://openalex.org/W2023147027","https://openalex.org/W2067243719","https://openalex.org/W2083456547","https://openalex.org/W2084165297","https://openalex.org/W2156218502","https://openalex.org/W2166585449","https://openalex.org/W2404915010","https://openalex.org/W2466751939","https://openalex.org/W2518073382","https://openalex.org/W2520982900","https://openalex.org/W2560730116","https://openalex.org/W2566563629","https://openalex.org/W2577559484","https://openalex.org/W2618733545","https://openalex.org/W2737533839","https://openalex.org/W2774660524","https://openalex.org/W2784648116","https://openalex.org/W2792966616","https://openalex.org/W2800503756","https://openalex.org/W2802914183","https://openalex.org/W2803735436","https://openalex.org/W2809216847","https://openalex.org/W2911173768","https://openalex.org/W2913017878","https://openalex.org/W2947068286","https://openalex.org/W2970214639","https://openalex.org/W2974606726","https://openalex.org/W2994752493","https://openalex.org/W2996085372","https://openalex.org/W3003612685","https://openalex.org/W3015665751","https://openalex.org/W3032258929","https://openalex.org/W3036589550","https://openalex.org/W3113355470","https://openalex.org/W3157572291","https://openalex.org/W3168686957","https://openalex.org/W3187258106","https://openalex.org/W3190242140","https://openalex.org/W3193994397","https://openalex.org/W3195999846","https://openalex.org/W3203763089","https://openalex.org/W4200397945","https://openalex.org/W4210832963","https://openalex.org/W4210863407","https://openalex.org/W4213081843","https://openalex.org/W4244384158","https://openalex.org/W4284969987","https://openalex.org/W4301606314","https://openalex.org/W4303858702","https://openalex.org/W4307256295","https://openalex.org/W4320002870","https://openalex.org/W4377823260","https://openalex.org/W4381434076"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2604861150","https://openalex.org/W2983479991","https://openalex.org/W3161089714","https://openalex.org/W4298121576","https://openalex.org/W3170826113","https://openalex.org/W4312732386"],"abstract_inverted_index":{"Biological":[0],"organisms":[1],"often":[2,54],"have":[3],"remarkable":[4],"multifunctionality":[5],"through":[6],"intricate":[7],"structures,":[8],"such":[9],"as":[10,149,151],"concurrent":[11],"shape":[12,88,138],"morphing":[13],"and":[14,48,74,86,119,127,139,154,169,188,190],"stiffness":[15,85],"variation":[16],"in":[17,90,123],"the":[18,30,43,49,67,104,111,176,197],"octopus.":[19],"Soft":[20],"robots,":[21],"which":[22],"are":[23],"inspired":[24,65],"by":[25,66,103,180],"natural":[26],"creatures,":[27],"usually":[28],"require":[29],"integration":[31],"of":[32,110,161,178],"separate":[33],"modules":[34],"to":[35,59,129,135,163,199],"achieve":[36],"these":[37],"various":[38],"functions.":[39],"As":[40],"a":[41,61,78,91,182],"result,":[42],"whole":[44],"structure":[45,80,99],"is":[46,52,186],"cumbersome,":[47],"control":[50,57],"system":[51],"complex,":[53],"involving":[55],"multiple":[56],"loops":[58],"finish":[60],"required":[62],"task.":[63],"Here,":[64],"scales":[68],"that":[69,81,185],"cover":[70],"creatures":[71],"like":[72],"pangolins":[73],"fish,":[75],"we":[76],"developed":[77],"robotic":[79],"can":[82],"vary":[83],"its":[84,136,167],"change":[87,160],"simultaneously":[89],"highly":[92],"integrated,":[93],"compact":[94],"body.":[95],"The":[96],"scale-inspired":[97],"layered":[98],"(SAILS)":[100],"was":[101,116],"enabled":[102],"inversely":[105],"designed":[106],"programmable":[107],"surface":[108],"patterns":[109],"scales.":[112],"After":[113],"fabrication,":[114],"SAILS":[115,143,179],"inherently":[117],"soft":[118,168,183],"flexible.":[120],"When":[121],"sealed":[122],"an":[124,156],"elastic":[125],"envelope":[126],"subjected":[128],"negative":[130],"confining":[131],"pressure,":[132],"it":[133],"transitioned":[134],"designated":[137],"concurrently":[140],"became":[141],"stiff.":[142],"could":[144],"be":[145],"actuated":[146],"at":[147],"frequencies":[148],"high":[150],"5":[152],"hertz":[153],"achieved":[155],"apparent":[157],"bending":[158],"modulus":[159],"up":[162],"53":[164],"times":[165],"between":[166],"stiff":[170],"states.":[171],"We":[172],"further":[173],"demonstrated":[174],"both":[175],"versatility":[177],"developing":[181],"robot":[184],"amphibious":[187],"adaptive":[189],"tunable":[191],"landing":[192],"systems":[193],"for":[194],"drones":[195],"with":[196],"capacity":[198],"accommodate":[200],"different":[201],"loads.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":39},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
