{"id":"https://openalex.org/W4405022696","doi":"https://doi.org/10.1126/scirobotics.adn4542","title":"Upgrading and extending the life cycle of soft robots with in situ free-form liquid three-dimensional printing","display_name":"Upgrading and extending the life cycle of soft robots with in situ free-form liquid three-dimensional printing","publication_year":2024,"publication_date":"2024-12-04","ids":{"openalex":"https://openalex.org/W4405022696","doi":"https://doi.org/10.1126/scirobotics.adn4542","pmid":"https://pubmed.ncbi.nlm.nih.gov/39630879"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adn4542","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adn4542","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/A5043626030","display_name":"Elgar Kanhere","orcid":"https://orcid.org/0000-0002-9416-0931"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Elgar Kanhere","raw_affiliation_strings":["Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089937462","display_name":"Th\u00e9o Calais","orcid":"https://orcid.org/0000-0002-7485-9796"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Th\u00e9o Calais","raw_affiliation_strings":["ICB UMR 6303 CNRS, Belfort-Montb\u00e9liard University of Technology, UTBM, Belfort, France"],"affiliations":[{"raw_affiliation_string":"ICB UMR 6303 CNRS, Belfort-Montb\u00e9liard University of Technology, UTBM, Belfort, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014924907","display_name":"Snehal Jain","orcid":"https://orcid.org/0000-0003-3437-0707"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Snehal Jain","raw_affiliation_strings":["Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091263481","display_name":"Aby Raj Plamootil Mathai","orcid":"https://orcid.org/0000-0002-6771-3000"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aby Raj Plamootil Mathai","raw_affiliation_strings":["Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035894254","display_name":"Aaron Chooi","orcid":"https://orcid.org/0000-0001-6748-7050"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aaron Chooi","raw_affiliation_strings":["Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088698571","display_name":"Thileepan Stalin","orcid":"https://orcid.org/0000-0002-5557-2159"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thileepan Stalin","raw_affiliation_strings":["Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034254532","display_name":"Vincent S. Joseph","orcid":"https://orcid.org/0000-0001-8725-4254"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vincent Sebastian Joseph","raw_affiliation_strings":["Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077945788","display_name":"Pablo Valdivia y Alvarado","orcid":"https://orcid.org/0000-0003-0289-0628"},"institutions":[{"id":"https://openalex.org/I4210086881","display_name":"Singapore-HUJ Alliance for Research and Enterprise","ror":"https://ror.org/002pnw495","country_code":"SG","type":"nonprofit","lineage":["https://openalex.org/I4210086881"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Pablo Valdivia y Alvarado","raw_affiliation_strings":["Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore","Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore","Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore 138602, Singapore"],"affiliations":[{"raw_affiliation_string":"Digital Manufacturing and Design Centre (DManD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]},{"raw_affiliation_string":"Engineering Product Development (EPD), Singapore University of Technology and Design, Singapore, Singapore","institution_ids":[]},{"raw_affiliation_string":"Singapore-HUJ Alliance for Research and Enterprise (SHARE), Smart Grippers for Soft Robotics (SGSR) Programme, Campus for Research Excellence and Technological Enterprise (CREATE), Singapore 138602, Singapore","institution_ids":["https://openalex.org/I4210086881"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5077945788"],"corresponding_institution_ids":["https://openalex.org/I4210086881"],"apc_list":null,"apc_paid":null,"fwci":1.6761,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.83433053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"97","first_page":"eadn4542","last_page":"eadn4542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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":0.998199999332428,"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/workflow","display_name":"Workflow","score":0.7090325355529785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7088810205459595},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6746538281440735},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5391796827316284},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4696953296661377},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.45414990186691284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4539083242416382},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3736037313938141},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3248738646507263},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31115227937698364},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.09669384360313416}],"concepts":[{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.7090325355529785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7088810205459595},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6746538281440735},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5391796827316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4696953296661377},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.45414990186691284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4539083242416382},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3736037313938141},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3248738646507263},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31115227937698364},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.09669384360313416},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adn4542","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adn4542","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:39630879","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39630879","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":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/12","display_name":"Responsible consumption and production"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W561587708","https://openalex.org/W1515749184","https://openalex.org/W1980855375","https://openalex.org/W2011301897","https://openalex.org/W2032449858","https://openalex.org/W2079950637","https://openalex.org/W2092055483","https://openalex.org/W2136065747","https://openalex.org/W2168479270","https://openalex.org/W2296718990","https://openalex.org/W2388726286","https://openalex.org/W2486008322","https://openalex.org/W2488138567","https://openalex.org/W2743013258","https://openalex.org/W2787690100","https://openalex.org/W2791180667","https://openalex.org/W2793128170","https://openalex.org/W2799721435","https://openalex.org/W2800503756","https://openalex.org/W2801458905","https://openalex.org/W2891249304","https://openalex.org/W2913446864","https://openalex.org/W2931921805","https://openalex.org/W2968482926","https://openalex.org/W2990673778","https://openalex.org/W2996185064","https://openalex.org/W3001760871","https://openalex.org/W3002815425","https://openalex.org/W3003255749","https://openalex.org/W3008564376","https://openalex.org/W3034432356","https://openalex.org/W3092216269","https://openalex.org/W3097660750","https://openalex.org/W3104152360","https://openalex.org/W3105243442","https://openalex.org/W3112747941","https://openalex.org/W3130284108","https://openalex.org/W3133349997","https://openalex.org/W3134259965","https://openalex.org/W3138113372","https://openalex.org/W3174234061","https://openalex.org/W3201719812","https://openalex.org/W4200330152","https://openalex.org/W4210807209","https://openalex.org/W4211124276","https://openalex.org/W4225093783","https://openalex.org/W4229071651","https://openalex.org/W4280570373","https://openalex.org/W4281488069","https://openalex.org/W4285235967","https://openalex.org/W4295804348","https://openalex.org/W4308509041","https://openalex.org/W4318338134","https://openalex.org/W4388694028"],"related_works":["https://openalex.org/W1981780420","https://openalex.org/W2182707996","https://openalex.org/W45233828","https://openalex.org/W2964988449","https://openalex.org/W2397952901","https://openalex.org/W2326585759","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4312269480","https://openalex.org/W3182175143"],"abstract_inverted_index":{"Soft":[0,28],"robotics":[1],"hardware,":[2],"with":[3,122,135],"numerous":[4],"applications":[5],"ranging":[6],"from":[7,16],"health":[8],"care":[9],"to":[10,22,74,148,163,209],"exploration":[11],"of":[12,45,87,119,194,214],"unstructured":[13],"environments,":[14],"suffers":[15],"limited":[17],"life":[18,54,203],"cycles,":[19],"which":[20,41],"lead":[21],"waste":[23],"generation":[24],"and":[25,38,50,78,140,150,182,197],"poor":[26],"sustainability.":[27],"robots":[29],"combine":[30,132],"soft":[31,81,167,215],"or":[32],"hybrid":[33],"components":[34,121,130],"via":[35,152],"complex":[36],"assembly":[37],"disassembly":[39],"workflows,":[40],"complicate":[42],"the":[43,103,117,191,201,211],"repair":[44],"broken":[46],"components,":[47],"hinder":[48],"upgradability,":[49],"ultimately":[51],"reduce":[52],"their":[53],"spans.":[55],"In":[56],"this":[57],"work,":[58],"an":[59,165],"advanced":[60,120,172],"extrusion-based":[61],"additive":[62],"manufacturing":[63],"process,":[64],"in":[65,80],"situ":[66],"free-form":[67],"liquid":[68],"three-dimensional":[69],"printing":[70,111],"(iFL3DP),":[71],"was":[72,160],"developed":[73],"facilitate":[75],"functional":[76],"upgrades":[77],"repairs":[79],"robots.":[82,128,216],"A":[83],"yield-stress":[84],"hydrogel-a":[85],"type":[86],"material":[88],"that":[89,144],"can":[90],"maintain":[91],"its":[92],"shape":[93],"until":[94],"sufficient":[95],"stress":[96],"is":[97],"applied-was":[98],"first":[99],"printed":[100],"directly":[101],"onto":[102,125],"robot":[104,168],"surface,":[105],"serving":[106],"as":[107,156],"a":[108,179,183],"support":[109],"for":[110,176],"new":[112,196],"components.":[113],"This":[114,158,188,205],"technique":[115],"enabled":[116],"fabrication":[118],"seamless":[123],"integration":[124],"already":[126],"assembled":[127],"These":[129],"could":[131],"multiple":[133],"materials":[134],"intricate":[136],"geometries,":[137],"including":[138],"overhangs":[139],"high-aspect":[141],"ratio":[142],"shapes,":[143],"are":[145],"considerably":[146],"challenging":[147],"manufacture":[149],"integrate":[151],"traditional":[153],"methods":[154],"such":[155],"casting.":[157],"approach":[159],"successfully":[161],"applied":[162],"upgrade":[164],"existing":[166],"by":[169],"adding":[170],"three":[171],"functionalities:":[173],"whisker-like":[174],"sensors":[175],"tactile":[177],"feedback,":[178],"grasping":[180],"mechanism,":[181],"multifunctional":[184],"passive":[185],"whisker":[186],"array.":[187],"study":[189],"showcases":[190],"easy":[192],"repairability":[193],"features,":[195],"old,":[198],"substantially":[199],"extending":[200],"robot's":[202],"span.":[204],"workflow":[206],"has":[207],"potential":[208],"enhance":[210],"sustainable":[212],"development":[213]},"counts_by_year":[{"year":2025,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}