{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T04:24:27Z","timestamp":1779337467538,"version":"3.51.4"},"reference-count":42,"publisher":"Wiley","issue":"10","license":[{"start":{"date-parts":[[2022,9,9]],"date-time":"2022-09-09T00:00:00Z","timestamp":1662681600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51975306"],"award-info":[{"award-number":["51975306"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["92048302"],"award-info":[{"award-number":["92048302"]}],"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":[[2022,10]]},"abstract":"<jats:sec><jats:label\/><jats:p>Robotic manipulators are expected to enhance humans\u2019 ability to grasp and manipulate objects. Soft materials offer innovative opportunities to develop robotic manipulators that are inherently compliant, physically robust, and interact safely with humans. Herein, a soft\u2010material\u2010based musculoskeletal module is reported. Inspired by the human shoulder complex, a lightweight and compact three\u2010degree\u2010of\u2010freedom (three\u2010DOF) membrane\u2010covered passive joint with a large range of motion (&gt;180\u00b0) in all DOFs, small rotational resistance (&lt;0.2\u2009Nm), and large axial load\u2010bearing capacity (&gt;80\u2009N) benefiting from the hydrostatic stress of its filled liquid is developed. To actuate the joint, a helical\u2010structured pneumatic artificial muscle fiber (HPAMF) with a high energy density of 36\u2009J\u2009kg<jats:sup>\u22121<\/jats:sup> is designed. Moreover, it is investigated how to eliminate the Mullins effect of fibers made from silicone rubber to increase the repeatability and consistency between fibers and ensure the musculoskeletal system achieves stable motion by overcoming the snap\u2010through instability. Finally, the musculoskeletal system achieves open\u2010loop controlled three\u2010DOF motion with load\u2010bearing capacity in a compact space via pre\u2010stretching and antagonistic arrangement of 60 HPAMFs as 12 independent bundles. It is believed that the proposed musculoskeletal module can be assembled and developed as a soft manipulator to assist people in their activities of daily living.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200126","type":"journal-article","created":{"date-parts":[[2022,9,10]],"date-time":"2022-09-10T01:30:49Z","timestamp":1662773449000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4373-638X","authenticated-orcid":false,"given":"Zhonghan","family":"Lin","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Tsinghua University  Beijing 100084 China"},{"name":"State Key Laboratory of Tribology  Beijing 100084 China"},{"name":"Beijing Key Lab of Precision\/Ultra-Precision Manufacturing Equipment and Control  Beijing 100084 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Shao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Tsinghua University  Beijing 100084 China"},{"name":"State Key Laboratory of Tribology  Beijing 100084 China"},{"name":"Beijing Key Lab of Precision\/Ultra-Precision Manufacturing Equipment and Control  Beijing 100084 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin-Jun","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Tsinghua University  Beijing 100084 China"},{"name":"State Key Laboratory of Tribology  Beijing 100084 China"},{"name":"Beijing Key Lab of Precision\/Ultra-Precision Manufacturing Equipment and Control  Beijing 100084 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2640-9528","authenticated-orcid":false,"given":"Huichan","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Tsinghua University  Beijing 100084 China"},{"name":"State Key Laboratory of Tribology  Beijing 100084 China"},{"name":"Beijing Key Lab of Precision\/Ultra-Precision Manufacturing Equipment and Control  Beijing 100084 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2022,9,9]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2225473"},{"key":"e_1_2_10_3_1","doi-asserted-by":"crossref","unstructured":"F.Parietti H. H.Asada inIEEE Int. Conf. Robotics and Automation (ICRA) IEEE Hong Kong China2014 pp.1176\u20131183.","DOI":"10.1109\/ICRA.2014.6907002"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0065"},{"key":"e_1_2_10_5_1","unstructured":"F. Y.Wu H. H.Asada inIEEE Int. Conf. Robotics and Automation (ICRA) IEEE Seattle WA USA2015 pp.6205\u20136212."},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2582216"},{"key":"e_1_2_10_7_1","doi-asserted-by":"crossref","unstructured":"P.Polygerinos K. C.Galloway E.Savage M.Herman K. O.Donnell C. J.Walsh inIEEE Int. Conf. on Robotics and Automation (ICRA) IEEE Seattle WA USA2015 pp.2913\u20132919.","DOI":"10.1109\/ICRA.2015.7139597"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/1\/016007"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aai7529"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1080\/11762320802557865"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1163\/156855312X626343"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915587925"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3036618"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920917203"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0051"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaq0899"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0044"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/6\/066009"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.1186\/s40648-016-0061-3"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat4440"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1815053116"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aao6139"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0033"},{"key":"e_1_2_10_27_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201700359"},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.ph.55.030193.002523"},{"key":"e_1_2_10_29_1","first-page":"74","volume-title":"Electroactive Polymer (EAP) Actuators as Artificial Muscles Reality, Potential, and Challenges","author":"Full R. J.","year":"2004"},{"key":"e_1_2_10_30_1","volume-title":"Anatomy and Physiology","author":"Betts J. G.","year":"2013"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905052437"},{"key":"e_1_2_10_32_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201203002"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920979367"},{"key":"e_1_2_10_34_1","volume-title":"Kinesiology: Scientific Basis of Human Motion","author":"Weimar W.","year":"2012"},{"key":"e_1_2_10_35_1","first-page":"622","volume-title":"Kinesiology: Scientific Basis of Human Motion","author":"Weimar W.","year":"2012"},{"key":"e_1_2_10_36_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(11)60107-8"},{"key":"e_1_2_10_37_1","doi-asserted-by":"crossref","unstructured":"Y.Yang Y. H.Chen Y. T.Li M. Z. Q.Chen inIEEE Int. Conf. on Robotics and Automation Stockholm Sweden2016 pp.3871\u20133877.","DOI":"10.1109\/ICRA.2016.7487575"},{"key":"e_1_2_10_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bonr.2017.03.002"},{"key":"e_1_2_10_39_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.otsr.2014.06.027"},{"key":"e_1_2_10_40_1","volume-title":"Linear Theories of Elasticity and Thermoelasticity, Linear and Nonlinear Theories of Rods, Plates, and Shells","author":"Antman S. S.","year":"1984"},{"key":"e_1_2_10_41_1","doi-asserted-by":"publisher","DOI":"10.5254\/1.3539210"},{"key":"e_1_2_10_42_1","doi-asserted-by":"publisher","DOI":"10.1177\/1056789514522504"},{"key":"e_1_2_10_43_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1504947112"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200126","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202200126","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200126","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T23:26:20Z","timestamp":1759879580000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202200126"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,9]]},"references-count":42,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["10.1002\/aisy.202200126"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202200126","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,9,9]]},"assertion":[{"value":"2022-05-13","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-09-09","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2200126"}}