{"id":"https://openalex.org/W4403419487","doi":"https://doi.org/10.3389/frobt.2024.1451231","title":"Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study","display_name":"Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403419487","doi":"https://doi.org/10.3389/frobt.2024.1451231","pmid":"https://pubmed.ncbi.nlm.nih.gov/39479564"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2024.1451231","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1451231","pdf_url":null,"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":"article","indexed_in":["arxiv","crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2024.1451231","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049998531","display_name":"Haiyun Zhang","orcid":"https://orcid.org/0000-0001-9097-6637"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haiyun Zhang","raw_affiliation_strings":["Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095067022","display_name":"Gabrielle Naquila","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabrielle Naquila","raw_affiliation_strings":["Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017235147","display_name":"Junghyun Bae","orcid":"https://orcid.org/0000-0001-7096-1913"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junghyun Bae","raw_affiliation_strings":["Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087302495","display_name":"Zonghuan Wu","orcid":"https://orcid.org/0000-0002-3838-5474"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zonghuan Wu","raw_affiliation_strings":["Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095067023","display_name":"Ashwin Hingwe","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashwin Hingwe","raw_affiliation_strings":["Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041011551","display_name":"Ashish D. Deshpande","orcid":"https://orcid.org/0000-0002-4152-5933"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashish Deshpande","raw_affiliation_strings":["Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, The University of Texas at Austin, Austin, TX, United States","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.6511,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65734379,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"1451231","last_page":"1451231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.970300018787384,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7870911359786987},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7726562023162842},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6273592710494995},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.5887508392333984},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5846980214118958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5775935649871826},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5750070810317993},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5684459805488586},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.548336923122406},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.518515944480896},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5004701614379883},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40508508682250977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2679329216480255},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1528017520904541}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7870911359786987},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7726562023162842},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273592710494995},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.5887508392333984},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5846980214118958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5775935649871826},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5750070810317993},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5684459805488586},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.548336923122406},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.518515944480896},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5004701614379883},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40508508682250977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2679329216480255},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1528017520904541},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2024.1451231","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1451231","pdf_url":null,"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:39479564","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39479564","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:arXiv.org:2509.01145","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.01145","pdf_url":"https://arxiv.org/pdf/2509.01145","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pubmedcentral.nih.gov:11521781","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11521781","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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:dcb49f172f324f39a347ddba9c383e50","is_oa":false,"landing_page_url":"https://doaj.org/article/dcb49f172f324f39a347ddba9c383e50","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 11 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2024.1451231","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1451231","pdf_url":null,"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":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1995346557","https://openalex.org/W2475424520","https://openalex.org/W2739040100","https://openalex.org/W2743548951","https://openalex.org/W2766406314","https://openalex.org/W2897912986","https://openalex.org/W2907896586","https://openalex.org/W2921972126","https://openalex.org/W2945931088","https://openalex.org/W2955603920","https://openalex.org/W2968093189","https://openalex.org/W2978285377","https://openalex.org/W3012227198","https://openalex.org/W3037722175","https://openalex.org/W3080583456","https://openalex.org/W3095351385","https://openalex.org/W3119298694","https://openalex.org/W3124720820","https://openalex.org/W4283831012","https://openalex.org/W6721161605","https://openalex.org/W6741867616","https://openalex.org/W6760607351","https://openalex.org/W6762998567","https://openalex.org/W6787127616"],"related_works":["https://openalex.org/W2809633875","https://openalex.org/W4402575579","https://openalex.org/W1958498726","https://openalex.org/W4200033498","https://openalex.org/W3095748503","https://openalex.org/W2291990610","https://openalex.org/W3005638187","https://openalex.org/W2989641551","https://openalex.org/W4200213857","https://openalex.org/W3157594975"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"have":[2],"been":[3],"increasingly":[4],"utilized":[5],"as":[6,31],"sophisticated":[7],"tools":[8],"in":[9],"physical":[10],"rehabilitation,":[11],"particularly":[12],"for":[13,23,96,105,145],"assisting":[14],"patients":[15],"with":[16],"neuromotor":[17],"impairments.":[18],"However,":[19],"many":[20,61],"soft":[21,57,82],"robotics":[22],"rehabilitation":[24],"applications":[25],"are":[26,44],"characterized":[27,110,122],"by":[28,111,123],"limitations":[29],"such":[30],"slow":[32],"response":[33],"times,":[34],"restricted":[35],"range":[36,163],"of":[37,55,79,154,164,182],"motion,":[38],"and":[39,52,99,117,127,142,166],"low":[40],"output":[41,115,125,143,167],"force.":[42],"There":[43],"also":[45],"limited":[46],"studies":[47,62],"on":[48,172],"the":[49,71,90,97,100,106,136,151,155,162,180,183],"precise":[50],"position":[51],"force":[53,144],"control":[54],"wearable":[56],"actuators.":[58,184],"Furthermore,":[59],"not":[60],"articulate":[63],"how":[64],"bellow-structured":[65],"actuator":[66,83],"designs":[67],"quantitatively":[68],"contribute":[69],"to":[70,160,178],"robots'":[72],"capability.":[73],"This":[74,85],"study":[75],"introduces":[76],"a":[77,173],"paradigm":[78,86],"upper":[80],"limb":[81],"design.":[84],"comprises":[87],"two":[88],"actuators:":[89],"Lobster-Inspired":[91],"Silicone":[92],"Pneumatic":[93,102],"Robot":[94,103],"(LISPER)":[95],"elbow":[98],"Scallop-Shaped":[101],"(SCASPER)":[104],"shoulder.":[107],"LISPER":[108],"is":[109,121,176],"higher":[112],"bandwidth,":[113],"increased":[114],"force/torque,":[116],"high":[118,124],"linearity.":[119],"SCASPER":[120],"force/torque":[126],"simplified":[128],"fabrication":[129],"processes.":[130],"Comprehensive":[131],"analytical":[132],"models":[133],"that":[134],"describe":[135],"relationship":[137],"between":[138],"pressure,":[139],"bending":[140],"angles,":[141],"both":[146],"actuators":[147,156],"were":[148],"presented":[149],"so":[150],"geometric":[152],"configuration":[153],"can":[157],"be":[158],"set":[159],"modify":[161],"motion":[165],"forces.":[168],"The":[169],"preliminary":[170],"test":[171,179],"dummy":[174],"arm":[175],"conducted":[177],"capability":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}