{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,15]],"date-time":"2026-06-15T16:48:56Z","timestamp":1781542136319,"version":"3.54.5"},"reference-count":35,"publisher":"Wiley","issue":"9","license":[{"start":{"date-parts":[[2022,6,12]],"date-time":"2022-06-12T00:00:00Z","timestamp":1654992000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002920","name":"Research Grants Council, University Grants Committee","doi-asserted-by":"publisher","award":["14202918"],"award-info":[{"award-number":["14202918"]}],"id":[{"id":"10.13039\/501100002920","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1613218"],"award-info":[{"award-number":["U1613218"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2022,9]]},"abstract":"<jats:sec><jats:label\/><jats:p>Bio\u2010inspired soft robots provide a promising solution for robots working in human\u2010centered scenarios and interacting with unstructured environments. However, the functional versatility and multimodal sensing of soft robots still need improvements. On one hand, the configuration of a soft robot is predefined during manufacturing; on the other hand, the multimodal perception of the deformable soft actuator is challenging. In this work, a reconfigurable and proprioceptive soft origami module is presented, where two kinds of basic actuation modes (i.e., extension and bending) are realized, and multimodal perception is enabled using a novel foldable self\u2010inductance sensor. As a result, the origami module can be reconfigured to assemble multifunctional robots that can measure interaction force, body configuration, and other environmental information. Dedicated experiments are performed to validate the performance of the proposed origami module. An intelligent gripper assembled using three origami modules is designed with the capabilities of grasping mode adjustment, grasping force measurement, and the grasping target's size measurement. An intelligent jellyfish is assembled using five origami modules, and equipped with buoyancy adjustment and underwater grasping capabilities. The proposed proprioceptive modular soft origami provides an effective solution for versatile and intelligent soft robot design.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200081","type":"journal-article","created":{"date-parts":[[2022,6,12]],"date-time":"2022-06-12T22:44:35Z","timestamp":1655073875000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":62,"title":["Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6192-4715","authenticated-orcid":false,"given":"Junda","family":"Huang","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3900-3519","authenticated-orcid":false,"given":"Jianshu","family":"Zhou","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SAR"},{"name":"Hong Kong Center for Logistics Robotics  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengyan","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Rm.707, Mechanics Building V, West Campus, USTC, Huangshan Rd. 443 Hefei Anhui Province 230027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jones","family":"Law","sequence":"additional","affiliation":[{"name":"Hong Kong Center for Logistics Robotics  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hanwen","family":"Cao","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yichuan","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6546-1241","authenticated-orcid":false,"given":"Hongbo","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Rm.707, Mechanics Building V, West Campus, USTC, Huangshan Rd. 443 Hefei Anhui Province 230027 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunhui","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SAR"},{"name":"Hong Kong Center for Logistics Robotics  HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2022,6,12]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7650"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg6049"},{"key":"e_1_2_9_4_1","unstructured":"R.Drechsler U.K\u00fchne in1st Inter. Summer School on Methods and Tools for the Design of Digital Systems Bremen Germany June2015 https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-658-09994-7.pdf."},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tibtech.2013.03.002"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-04138-2"},{"key":"e_1_2_9_9_1","doi-asserted-by":"crossref","unstructured":"J.Zhou Y.Chen D. C. F.Li Y.Gao Y.Li S. S.Cheng F.Chen Y.Liu in2020 IEEE\/RSJ Inter. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.9159\u20139165.","DOI":"10.1109\/IROS45743.2020.9340982"},{"key":"e_1_2_9_10_1","doi-asserted-by":"crossref","unstructured":"J.Zhou Y.Li Y.Yang H.Cao J.Huang Y.Liu in2021 IEEE Inter. Conf. on Real-time Computing and Robotics (RCAR) IEEE Piscataway NJ July2021 pp.20\u201326.","DOI":"10.1109\/RCAR52367.2021.9517366"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0089"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2716445"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2851360"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969920"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2929690"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2017.0101"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat2874"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ab3d05"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan3028"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201800541"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339607"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339623"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matpr.2020.03.618"},{"key":"e_1_2_9_24_1","doi-asserted-by":"crossref","unstructured":"J.Zhou X.Chen J.Li Y.Tian Z.Wang in2018 IEEE Inter. Conf. on Soft Robotics (RoboSoft) IEEE Piscataway NJ April2018 pp.412\u2013417.","DOI":"10.1109\/ROBOSOFT.2018.8404954"},{"key":"e_1_2_9_25_1","doi-asserted-by":"crossref","unstructured":"J.Zhou J.Yi Z.Wang in2018 IEEE Inter. Conf. on Real-time Computing and Robotics (RCAR) IEEE Piscataway NJ August2018 pp.411\u2013416.","DOI":"10.1109\/RCAR.2018.8621830"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/23\/9\/094001"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2697310"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0009-8"},{"key":"e_1_2_9_29_1","doi-asserted-by":"crossref","unstructured":"Z.Chen S.Siu S.Tin Y.Liu H.Cao Y.Gao J.Zhou Y.Liu in2021 IEEE Inter. Conf. on Real-time Computing and Robotics (RCAR) IEEE Piscataway NJ July2021 pp.1379\u20131384.","DOI":"10.1109\/RCAR52367.2021.9517477"},{"key":"e_1_2_9_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2871440"},{"key":"e_1_2_9_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2020.3044914"},{"key":"e_1_2_9_32_1","volume-title":"A Resilient, Untethered Soft Robot","author":"TolleyMichael T.","year":"2014"},{"key":"e_1_2_9_33_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202000659"},{"key":"e_1_2_9_34_1","doi-asserted-by":"crossref","unstructured":"H.Wang M.Totaro A. A.Blandin L.Beccai in2019 2nd IEEE Inter. Conf. on Soft Robotics (RoboSoft) IEEE Piscataway NJ April2019 pp.242\u2013248.","DOI":"10.1109\/ROBOSOFT.2019.8722800"},{"key":"e_1_2_9_35_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0135"},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-07882-8"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200081","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202200081","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200081","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T19:16:49Z","timestamp":1759864609000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202200081"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6,12]]},"references-count":35,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2022,9]]}},"alternative-id":["10.1002\/aisy.202200081"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202200081","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6,12]]},"assertion":[{"value":"2022-03-21","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-06-12","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2200081"}}