{"id":"https://openalex.org/W4317397265","doi":"https://doi.org/10.3389/frobt.2022.1059026","title":"The science of soft robot design: A review of motivations, methods and enabling technologies","display_name":"The science of soft robot design: A review of motivations, methods and enabling technologies","publication_year":2023,"publication_date":"2023-01-18","ids":{"openalex":"https://openalex.org/W4317397265","doi":"https://doi.org/10.3389/frobt.2022.1059026","pmid":"https://pubmed.ncbi.nlm.nih.gov/36743292"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2022.1059026","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2022.1059026","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1059026/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"review","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1059026/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012482583","display_name":"Francesco Stella","orcid":"https://orcid.org/0000-0002-4724-1886"},"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":"Francesco Stella","raw_affiliation_strings":["CREATE Lab, Institute of Mechanical Engineering, EPFL, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, Institute of Mechanical Engineering, EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"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":"Josie Hughes","raw_affiliation_strings":["CREATE Lab, Institute of Mechanical Engineering, EPFL, Switzerland"],"affiliations":[{"raw_affiliation_string":"CREATE Lab, Institute of Mechanical Engineering, EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012482583"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":6.7981,"has_fulltext":true,"cited_by_count":53,"citation_normalized_percentile":{"value":0.98104561,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"1059026","last_page":"1059026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9977999925613403,"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":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7201682329177856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.66060870885849},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6346908211708069},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6236931681632996},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5453923344612122},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.531731367111206},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.45910927653312683},{"id":"https://openalex.org/keywords/design-methods","display_name":"Design methods","score":0.4333277642726898},{"id":"https://openalex.org/keywords/systems-design","display_name":"Systems design","score":0.4299358129501343},{"id":"https://openalex.org/keywords/soft-systems-methodology","display_name":"Soft systems methodology","score":0.42873480916023254},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3623191714286804},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.17813271284103394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.142412930727005},{"id":"https://openalex.org/keywords/information-system","display_name":"Information system","score":0.08680856227874756},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.08021962642669678},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07998162508010864}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7201682329177856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.66060870885849},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6346908211708069},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6236931681632996},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5453923344612122},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.531731367111206},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.45910927653312683},{"id":"https://openalex.org/C138852830","wikidata":"https://www.wikidata.org/wiki/Q2292993","display_name":"Design methods","level":2,"score":0.4333277642726898},{"id":"https://openalex.org/C31352089","wikidata":"https://www.wikidata.org/wiki/Q3750474","display_name":"Systems design","level":2,"score":0.4299358129501343},{"id":"https://openalex.org/C141846272","wikidata":"https://www.wikidata.org/wiki/Q613474","display_name":"Soft systems methodology","level":4,"score":0.42873480916023254},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3623191714286804},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.17813271284103394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.142412930727005},{"id":"https://openalex.org/C180198813","wikidata":"https://www.wikidata.org/wiki/Q121182","display_name":"Information system","level":2,"score":0.08680856227874756},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.08021962642669678},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07998162508010864},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C29848774","wikidata":"https://www.wikidata.org/wiki/Q61905","display_name":"Management information systems","level":3,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2022.1059026","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2022.1059026","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1059026/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:36743292","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36743292","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":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:infoscience.epfl.ch:300388","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/195111","pdf_url":"https://infoscience.epfl.ch/bitstreams/9aa0c43d-50a3-44ee-a205-cdcdfd813fb3/download","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"review"},{"id":"pmh:oai:pubmedcentral.nih.gov:9889359","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9889359","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9889359/pdf/frobt-09-1059026.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:cdfdc60022254587bd7ecfb8ece5082b","is_oa":true,"landing_page_url":"https://doaj.org/article/cdfdc60022254587bd7ecfb8ece5082b","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 9 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2022.1059026","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2022.1059026","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1059026/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317397265.pdf"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W1185869443","https://openalex.org/W1515749184","https://openalex.org/W1614964691","https://openalex.org/W1703327592","https://openalex.org/W1787284831","https://openalex.org/W1908440753","https://openalex.org/W1944876863","https://openalex.org/W1994748352","https://openalex.org/W1996763811","https://openalex.org/W2029744358","https://openalex.org/W2036723211","https://openalex.org/W2079574144","https://openalex.org/W2084591374","https://openalex.org/W2090252028","https://openalex.org/W2126701792","https://openalex.org/W2150024155","https://openalex.org/W2556078315","https://openalex.org/W2560730116","https://openalex.org/W2610992585","https://openalex.org/W2612690371","https://openalex.org/W2737491236","https://openalex.org/W2748291579","https://openalex.org/W2774368103","https://openalex.org/W2793128170","https://openalex.org/W2803735436","https://openalex.org/W2810686675","https://openalex.org/W2811441473","https://openalex.org/W2904019300","https://openalex.org/W2911087563","https://openalex.org/W2964247391","https://openalex.org/W2997294852","https://openalex.org/W3031483795","https://openalex.org/W3034637066","https://openalex.org/W3036541334","https://openalex.org/W3040091330","https://openalex.org/W3107437201","https://openalex.org/W3107834591","https://openalex.org/W3134259965","https://openalex.org/W3136641154","https://openalex.org/W3140906301","https://openalex.org/W3151434123","https://openalex.org/W3154125796","https://openalex.org/W3157853607","https://openalex.org/W3163328464","https://openalex.org/W3178824337","https://openalex.org/W4205518863","https://openalex.org/W4207044233","https://openalex.org/W4225148365","https://openalex.org/W4246603712","https://openalex.org/W4280606454","https://openalex.org/W4286539801","https://openalex.org/W4288043501","https://openalex.org/W4289521734","https://openalex.org/W4300751700","https://openalex.org/W4324143047","https://openalex.org/W4376605613","https://openalex.org/W6659519294","https://openalex.org/W6739585900","https://openalex.org/W6747104097","https://openalex.org/W6779337294","https://openalex.org/W6798000996","https://openalex.org/W6810417104"],"related_works":["https://openalex.org/W3134474396","https://openalex.org/W1515749184","https://openalex.org/W4367041227","https://openalex.org/W2806506062","https://openalex.org/W4285221039","https://openalex.org/W3164201927","https://openalex.org/W3094251759","https://openalex.org/W3117219792","https://openalex.org/W2618733545","https://openalex.org/W2976169195"],"abstract_inverted_index":{"Novel":[0],"technologies,":[1],"fabrication":[2],"methods,":[3],"controllers":[4],"and":[5,24,43,67,81,92,95,124],"computational":[6,90],"methods":[7,80,102,118],"are":[8,27,37,69],"rapidly":[9],"advancing":[10],"the":[11,19,30,53,62,70,97,105,131],"capabilities":[12],"of":[13,33,64,116,130],"soft":[14,34,57,65,75,84,107],"robotics.":[15,35],"This":[16],"is":[17],"creating":[18],"need":[20],"for":[21,29],"design":[22,63,86,91,101],"techniques":[23],"methodologies":[25],"that":[26,99,134],"suited":[28],"multi-disciplinary":[31],"nature":[32],"These":[36],"needed":[38],"to":[39,46,83],"provide":[40,113],"a":[41,127],"formalized":[42],"scientific":[44,54],"approach":[45],"design.":[47],"In":[48],"this":[49],"paper,":[50],"we":[51,112,125],"formalize":[52],"questions":[55],"driving":[56],"robotic":[58,108],"design;":[59],"what":[60,68],"motivates":[61],"robots,":[66],"fundamental":[71],"challenges":[72],"when":[73],"designing":[74],"robots?":[76],"We":[77],"review":[78,128],"current":[79],"approaches":[82],"robot":[85,122],"including":[87],"bio-inspired":[88],"design,":[89,94,123],"human-driven":[93],"highlight":[96],"implications":[98],"each":[100],"has":[103],"on":[104],"resulting":[106],"systems.":[109],"To":[110],"conclude,":[111],"an":[114],"analysis":[115],"emerging":[117],"which":[119],"could":[120],"assist":[121],"present":[126],"some":[129],"necessary":[132],"technologies":[133],"may":[135],"enable":[136],"these":[137],"approaches.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":11}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}
