{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T22:28:38Z","timestamp":1778711318896,"version":"3.51.4"},"reference-count":52,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2023,1,18]],"date-time":"2023-01-18T00:00:00Z","timestamp":1674000000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2023,3]]},"abstract":"<jats:sec><jats:label\/><jats:p>This research presents a new class of versatile multi\u2010material hybrid actuators (MASH actuators), powered by pneumatics and electrostatic adhesion (EA)\u2010based adaptive strain\u2010limiting layers. Soft pneumatic actuators with strain\u2010limiting layers as the mainstream actuation for soft robotics have been developed for decades. However, due to their permanent strain\u2010limiting layers, those actuators possess fewer motion patterns. Inspired by the longitudinal muscles of the earthworm, a concept of an adaptive strain\u2010limiting layer with the ability to vary its length, stiffness, and position is presented. By integrating two flexible EA brakes into a soft pneumatic actuator as adaptive strain\u2010limiting layers, the actuator can achieve multiple motion patterns including extension, contraction, and bilateral bending, with permutations among these motions. The EA\u2010based strain\u2010limiting layer can increase the original actuator length by up to 86%, and the baseline actuator stiffness by up to 605%. To demonstrate its potential in locomotion and manipulation, an earthworm\u2010inspired crawling robot possessing great terrain adaptability and a versatile soft robotic gripper based on this hybrid actuator concept are developed.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200346","type":"journal-article","created":{"date-parts":[[2023,1,18]],"date-time":"2023-01-18T22:59:55Z","timestamp":1674082795000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Earthworm\u2010Inspired Multi\u2010Material, Adaptive Strain\u2010Limiting, Hybrid Actuators for Soft Robots"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3097-3674","authenticated-orcid":false,"given":"Quan","family":"Xiong","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering College of Design and Engineering National University of Singapore  Singapore 117583 Singapore"},{"name":"Adavnced Robotics Center College of Design and Engineering National University of Singapore  Singapore 117608 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Benjamin W. K.","family":"Ang","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering College of Design and Engineering National University of Singapore  Singapore 117583 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Jin","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering College of Design and Engineering National University of Singapore  Singapore 117583 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jonathan W.","family":"Ambrose","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering College of Design and Engineering National University of Singapore  Singapore 117583 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6210-4548","authenticated-orcid":false,"given":"Raye C. H.","family":"Yeow","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering College of Design and Engineering National University of Singapore  Singapore 117583 Singapore"},{"name":"Adavnced Robotics Center College of Design and Engineering National University of Singapore  Singapore 117608 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2023,1,18]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan3028"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_9_4_1","author":"Zhang Y.","year":"2021","journal-title":"IEEE Trans. Rob."},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0030"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0009"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2669366"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.08.014"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tibtech.2013.03.002"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201700172"},{"key":"e_1_2_9_12_1","doi-asserted-by":"crossref","first-page":"405","DOI":"10.1007\/978-3-319-23778-7_27","volume-title":"Experimental Robotics","author":"Katzschmann R. K.","year":"2016"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2893480"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar3276"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0128"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100165"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2924386"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919846358"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-018-0317-1"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2874379"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0015"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aax1464"},{"key":"e_1_2_9_23_1","doi-asserted-by":"crossref","unstructured":"H.Wang J.Ma Z.Ren Z.Gong Y.Hao T.Wang L.Wen in2016 Inter. Conf. on Robotics and Automation Engineering (ICRAE) IEEE Piscataway NJ2016 pp.1\u20135.","DOI":"10.1109\/ICRAE.2016.7738777"},{"key":"e_1_2_9_24_1","author":"Puhlmann S.","year":"2022","journal-title":"IEEE Trans. Rob."},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.6.661"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1515\/9781400849512"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0031"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0112"},{"key":"e_1_2_9_29_1","doi-asserted-by":"crossref","unstructured":"A.Firouzeh M.Salerno J.Paik in2015 IEEE\/RSJ Inter. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2015 pp.1117\u20131124.","DOI":"10.1109\/IROS.2015.7353510"},{"key":"e_1_2_9_30_1","author":"Jiang P.","year":"2022","journal-title":"IEEE Trans. Rob."},{"key":"e_1_2_9_31_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202200259"},{"key":"e_1_2_9_32_1","doi-asserted-by":"crossref","unstructured":"S.Diller C.Majidi S. H.Collins in2016 IEEE Inter. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2016 pp.682\u2013689.","DOI":"10.1109\/ICRA.2016.7487194"},{"key":"e_1_2_9_33_1","author":"Xiong Q.","year":"2022","journal-title":"IEEE Trans. Rob."},{"key":"e_1_2_9_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2019.2940219"},{"key":"e_1_2_9_35_1","unstructured":"E.Vezzoli M.Amberg F.Giraud B.Lemaire-Semail inInt. Conf. on Human Haptic Sensing and Touch Enabled Computer Applications Springer Berlin Heidelberg Germany2014 pp.369\u2013376."},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1186\/s40648-017-0085-3"},{"key":"e_1_2_9_37_1","doi-asserted-by":"crossref","unstructured":"R.Hinchet V.Vechev H.Shea O.Hilliges inProc. of the 31st Annual ACM Symp. on User Interface Software and Technology2018 pp.901\u2013912.","DOI":"10.1145\/3242587.3242657"},{"key":"e_1_2_9_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2853640"},{"key":"e_1_2_9_39_1","doi-asserted-by":"crossref","unstructured":"D.Drotman S.Jadhav M.Karimi P.de Zonia M. T.Tolley in2017 IEEE Inter. Conf. on Robotics and Automation (ICRA) IEEE Piscataway NJ2017 pp.5532\u20135538.","DOI":"10.1109\/ICRA.2017.7989652"},{"key":"e_1_2_9_40_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.200401330"},{"key":"e_1_2_9_41_1","first-page":"506","volume":"5","author":"Samyn P.","year":"2005","journal-title":"Proc. Balk"},{"key":"e_1_2_9_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924923"},{"key":"e_1_2_9_43_1","doi-asserted-by":"crossref","unstructured":"G.Runge M.Wiese L.G\u00fcnther A.Raatz in2017 3rd Inter. Conf. on Control Automation and Robotics (ICCAR) IEEE Piscataway NJ2017 pp.7\u201314.","DOI":"10.1109\/ICCAR.2017.7942652"},{"key":"e_1_2_9_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2690302"},{"key":"e_1_2_9_45_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abm7834"},{"key":"e_1_2_9_46_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7555"},{"key":"e_1_2_9_47_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919881687"},{"key":"e_1_2_9_48_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211002545"},{"key":"e_1_2_9_49_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aae7bb"},{"key":"e_1_2_9_50_1","author":"Ang B. W. K.","year":"2022","journal-title":"Soft Rob."},{"key":"e_1_2_9_51_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000251"},{"key":"e_1_2_9_52_1","unstructured":"L.Manfredi L.Yue A.Cuschieri inACTUATOR 2018; 16th Inter. Conf. on New Actuators VDE Berlin Germany2018 pp.1\u20134."},{"key":"e_1_2_9_53_1","volume":"9","author":"Fish R. M.","year":"2009","journal-title":"Eplasty"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200346","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202200346","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202200346","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T21:12:30Z","timestamp":1759871550000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202200346"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,18]]},"references-count":52,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,3]]}},"alternative-id":["10.1002\/aisy.202200346"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202200346","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1,18]]},"assertion":[{"value":"2022-11-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-01-18","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2200346"}}