{"id":"https://openalex.org/W4382726736","doi":"https://doi.org/10.3390/robotics12040094","title":"Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials","display_name":"Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials","publication_year":2023,"publication_date":"2023-06-28","ids":{"openalex":"https://openalex.org/W4382726736","doi":"https://doi.org/10.3390/robotics12040094"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12040094","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040094","pdf_url":"https://www.mdpi.com/2218-6581/12/4/94/pdf?version=1687956543","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/4/94/pdf?version=1687956543","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100928310","display_name":"Zheng-Yun Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyun Xu","raw_affiliation_strings":["School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101559420","display_name":"Haiqiang Liu","orcid":"https://orcid.org/0000-0002-8914-8444"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiqiang Liu","raw_affiliation_strings":["School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101112879","display_name":"Weihua Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weihua Feng","raw_affiliation_strings":["Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075384905","display_name":"Huaming Yang","orcid":"https://orcid.org/0000-0002-3097-2850"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huaming Yang","raw_affiliation_strings":["Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China"],"affiliations":[{"raw_affiliation_string":"Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025395145","display_name":"Xin Nie","orcid":"https://orcid.org/0000-0001-6635-0327"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Nie","raw_affiliation_strings":["School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102923222","display_name":"Rougang Zhou","orcid":"https://orcid.org/0000-0002-4569-3715"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rougang Zhou","raw_affiliation_strings":["Mstar Technologies, Inc., Hangzhou 310012, China","School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China","Wenzhou Institute, Hangzhou Dianzi University, Building 11, No. 26, Fengnan Road, Ouhai District, Wenzhou 325024, China","Mstar Technologies, Inc., Hangzhou 310012, China; School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"Mstar Technologies, Inc., Hangzhou 310012, China","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Wenzhou Institute, Hangzhou Dianzi University, Building 11, No. 26, Fengnan Road, Ouhai District, Wenzhou 325024, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Mstar Technologies, Inc., Hangzhou 310012, China; School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102923222"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.5625,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61271054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"12","issue":"4","first_page":"94","last_page":"94"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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":0.9944000244140625,"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":0.9900000095367432,"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/actuator","display_name":"Actuator","score":0.8034619092941284},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7350057363510132},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5574688911437988},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5200628638267517},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4941852390766144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4888381361961365},{"id":"https://openalex.org/keywords/bionics","display_name":"Bionics","score":0.4879733920097351},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.4824872314929962},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4692502021789551},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.46065446734428406},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.434480756521225},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40981510281562805},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4039667844772339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37591540813446045}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8034619092941284},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7350057363510132},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5574688911437988},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5200628638267517},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4941852390766144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4888381361961365},{"id":"https://openalex.org/C91316289","wikidata":"https://www.wikidata.org/wiki/Q189131","display_name":"Bionics","level":2,"score":0.4879733920097351},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.4824872314929962},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4692502021789551},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.46065446734428406},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.434480756521225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40981510281562805},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4039667844772339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37591540813446045},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12040094","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040094","pdf_url":"https://www.mdpi.com/2218-6581/12/4/94/pdf?version=1687956543","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2d819b9b2020441a862076a5df56ee2d","is_oa":true,"landing_page_url":"https://doaj.org/article/2d819b9b2020441a862076a5df56ee2d","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":"Robotics, Vol 12, Iss 4, p 94 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/4/94/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12040094","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 12; Issue 4; Pages: 94","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12040094","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040094","pdf_url":"https://www.mdpi.com/2218-6581/12/4/94/pdf?version=1687956543","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4382726736.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1556232604","https://openalex.org/W2027192530","https://openalex.org/W2101132776","https://openalex.org/W2166585449","https://openalex.org/W2273215869","https://openalex.org/W2365648271","https://openalex.org/W2515930553","https://openalex.org/W2562939166","https://openalex.org/W2746200739","https://openalex.org/W2770227623","https://openalex.org/W2774839435","https://openalex.org/W2775290884","https://openalex.org/W2808247663","https://openalex.org/W2899181821","https://openalex.org/W2947949670","https://openalex.org/W2967125373","https://openalex.org/W2999325808","https://openalex.org/W2999662760","https://openalex.org/W3006841524","https://openalex.org/W3041217396","https://openalex.org/W3081951288","https://openalex.org/W3112481608","https://openalex.org/W3213271503","https://openalex.org/W4235404466","https://openalex.org/W4251181231","https://openalex.org/W6747139688"],"related_works":["https://openalex.org/W4318828891","https://openalex.org/W2248648583","https://openalex.org/W4313064486","https://openalex.org/W2131936758","https://openalex.org/W4293056202","https://openalex.org/W3136131760","https://openalex.org/W4280591309","https://openalex.org/W3195769122","https://openalex.org/W3131795278","https://openalex.org/W4382726736"],"abstract_inverted_index":{"Conducting":[0],"research":[1],"on":[2],"soft":[3,36,53,155],"robots":[4],"is":[5,107,115,171],"crucial":[6],"as":[7],"there":[8],"are":[9,38,68],"still":[10],"many":[11,46],"problems":[12],"that":[13],"need":[14],"to":[15,50,153],"be":[16,131],"resolved":[17],"in":[18,81,97,133,136,186],"the":[19,92,127,134,141,168,180,183],"areas":[20],"of":[21,35,43,59,70,78,94,143,182],"material":[22],"selection,":[23],"structure":[24],"design":[25],"and":[26,28,62,85,87,112,117,119,126,161,174],"manufacture,":[27],"drive":[29],"control.":[30],"Soft":[31],"manipulators,":[32,52],"a":[33,40,56,63,75,110,137],"subset":[34],"robots,":[37],"now":[39],"popular":[41],"area":[42],"study":[44],"for":[45,91],"researchers.":[47],"In":[48],"comparison":[49],"typical":[51],"manipulators":[54,96],"feature":[55],"high":[57],"degree":[58],"gripping":[60,105,113],"flexibility":[61],"basic":[64],"morphological":[65],"structure.":[66],"They":[67,73],"composed":[69],"flexible":[71],"materials.":[72],"have":[74],"wide":[76],"range":[77],"potential":[79],"applications":[80],"healthcare,":[82],"rehabilitation,":[83],"bionics,":[84],"detection,":[86],"they":[88],"can":[89,130],"compensate":[90],"drawbacks":[93],"rigid":[95],"some":[98],"use":[99],"scenarios.":[100],"A":[101],"modular":[102,138],"soft-body":[103],"torsional":[104,111],"system":[106,135],"developed":[108],"after":[109],"actuator":[114,125,129],"conceived":[116],"constructed,":[118],"its":[120],"performance":[121],"examined.":[122],"The":[123],"torsion":[124],"grasping":[128],"combined":[132],"fashion.":[139],"With":[140],"help":[142],"RGB-D":[144],"vision":[145],"algorithms,":[146],"this":[147],"multi-modular":[148],"setup":[149],"makes":[150],"it":[151],"possible":[152],"combine":[154],"actuators":[156],"with":[157],"various":[158,177],"twisting":[159],"degrees":[160],"achieve":[162],"exact":[163],"gripping.":[164],"Through":[165],"pneumatic":[166],"control,":[167],"target":[169,184],"object":[170,185],"precisely":[172],"grasped":[173],"rotated":[175],"at":[176],"angles,":[178],"enabling":[179],"rotation":[181],"three":[187],"dimensions.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-24T23:23:39.755997","created_date":"2025-10-10T00:00:00"}