{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T12:28:32Z","timestamp":1780489712260,"version":"3.54.1"},"reference-count":62,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2024,3,8]],"date-time":"2024-03-08T00:00:00Z","timestamp":1709856000000},"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":[[2024,5]]},"abstract":"<jats:p>Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predominantly manufactured using silicones and acrylic elastomers, which pose environmental risks due to their limited biodegradability. To tackle this issue, a method for manufacturing water\u2010resistant, liquid\u2010driven soft actuators made from a novel type of konjac glucomannan (KGM) is presented, which is plant\u2010derived, insoluble, and edible. The material offers impressive stretchability, reaching up to 67.2% of its initial length, surpassing previous related work, and withstands over a 1000 cycles of tensile stress. Using this material, we develop soft actuators that can bend up to 47.1\u00b0, and the maximum blocking force of 0.1\u2009N is achieved with a pressure input of 20\u2009kPa. A gripper that is capable of grasping various objects underwater is also evaluated. In essence, this article introduces a sustainable and environmentally friendly alternative to conventional soft robotic materials, paving the way for innovative and eco\u2010conscious underwater applications. The utilization of edible, water\u2010resistant materials like konjac provides a promising solution to reduce pollution and mitigate negative environmental impacts associated with traditional underwater soft robots.<\/jats:p>","DOI":"10.1002\/aisy.202300473","type":"journal-article","created":{"date-parts":[[2024,3,9]],"date-time":"2024-03-09T00:39:33Z","timestamp":1709944773000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Edible Soft Actuators Based on Konjac Glucomannan for Underwater Operation"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4963-9791","authenticated-orcid":false,"given":"Ryo","family":"Kanno","sequence":"first","affiliation":[{"name":"Laboratory of Intelligent Systems Institute of Mechanical Engineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"},{"name":"Shintake Research Group Department of Mechanical and Intelligent Systems Engineering The University of Electro\u2010Communications  1\u20105\u20101 Chofugaoka, Chofu 182\u20108585 Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bokeon","family":"Kwak","sequence":"additional","affiliation":[{"name":"Laboratory of Intelligent Systems Institute of Mechanical Engineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mark\u00e9ta","family":"Pankhurst","sequence":"additional","affiliation":[{"name":"Laboratory of Intelligent Systems Institute of Mechanical Engineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Shintake","sequence":"additional","affiliation":[{"name":"Shintake Research Group Department of Mechanical and Intelligent Systems Engineering The University of Electro\u2010Communications  1\u20105\u20101 Chofugaoka, Chofu 182\u20108585 Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dario","family":"Floreano","sequence":"additional","affiliation":[{"name":"Laboratory of Intelligent Systems Institute of Mechanical Engineering School of Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  1015 Lausanne Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,3,8]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0011"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi13010110"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0019"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax5425"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar3449"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0009"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100271"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0062"},{"key":"e_1_2_8_10_1","doi-asserted-by":"crossref","unstructured":"J.Fras Y.Noh M.Macias H.Wurdemann K.Althoefer inProc. \u2010 IEEE Int. Conf. Robot. Autom Australia2018 p.1583.","DOI":"10.1109\/ICRA.2018.8460629"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.3390\/app10207160"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-021-90926-9"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd8668"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1186\/s40580-019-0191-4"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202002017"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.3390\/s21082689"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.marpolbul.2015.11.008"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jglr.2015.10.012"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1680\/jgrma.20.00069"},{"key":"e_1_2_8_20_1","first-page":"90560B","volume":"9056","author":"Chambers L. D.","year":"2014","journal-title":"Electroact. Polym. Actuators Devices"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.760485"},{"key":"e_1_2_8_22_1","doi-asserted-by":"crossref","unstructured":"J.Shintake H.Sonar E.Piskarev J.Paik D.Floreano inIEEE Int. Conf. Intell. Robot. Syst. Canada2017 p.6221.","DOI":"10.1109\/IROS.2017.8206525"},{"key":"e_1_2_8_23_1","doi-asserted-by":"crossref","unstructured":"J.Hughes D.Rus in2020 3rd IEEE Int. Conf. Soft Robot. RoboSoft USA2020 p.836.","DOI":"10.1109\/RoboSoft48309.2020.9116001"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1557\/mrs.2018.112"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0133"},{"key":"e_1_2_8_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijbiomac.2022.02.101"},{"key":"e_1_2_8_27_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202303659"},{"key":"e_1_2_8_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijbiomac.2018.12.203"},{"key":"e_1_2_8_29_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jep.2010.01.021"},{"key":"e_1_2_8_30_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2095.2010.00816.x"},{"key":"e_1_2_8_31_1","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/MSF.610-613.537"},{"key":"e_1_2_8_32_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.foodchem.2020.128859"},{"key":"e_1_2_8_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.lwt.2003.09.008"},{"key":"e_1_2_8_34_1","doi-asserted-by":"publisher","DOI":"10.1016\/0378-5173(96)04436-5"},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.msec.2020.110718"},{"key":"e_1_2_8_36_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.carbpol.2017.11.029"},{"key":"e_1_2_8_37_1","doi-asserted-by":"publisher","DOI":"10.1021\/acsami.0c16495"},{"key":"e_1_2_8_38_1","doi-asserted-by":"publisher","DOI":"10.1089\/3dp.2020.0289"},{"key":"e_1_2_8_39_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202270185"},{"key":"e_1_2_8_40_1","unstructured":"H. K.Yap J. C. H.Goh R. C. H.Yeow ini\u2010CREATe 2014 \u2010 Int. Conv. Rehabil. Eng. Assist. Technol. Singapore2014 p.782."},{"key":"e_1_2_8_41_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compscitech.2019.02.001"},{"key":"e_1_2_8_42_1","doi-asserted-by":"publisher","DOI":"10.1002\/ange.201006464"},{"key":"e_1_2_8_43_1","doi-asserted-by":"publisher","DOI":"10.1021\/bm0255995"},{"key":"e_1_2_8_44_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.carbpol.2014.02.087"},{"key":"e_1_2_8_45_1","doi-asserted-by":"publisher","DOI":"10.1002\/1097-4628(20010228)79:9<1596::AID-APP80>3.0.CO;2-Z"},{"key":"e_1_2_8_46_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.polymer.2019.121913"},{"key":"e_1_2_8_47_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.foodhyd.2014.09.027"},{"key":"e_1_2_8_48_1","doi-asserted-by":"publisher","DOI":"10.1002\/1097-4628(20010404)80:1<26::AID-APP1070>3.0.CO;2-B"},{"key":"e_1_2_8_49_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.fochx.2022.100407"},{"key":"e_1_2_8_50_1","doi-asserted-by":"publisher","DOI":"10.1007\/s13197-017-2606-8"},{"key":"e_1_2_8_51_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0260-8774(97)00069-1"},{"key":"e_1_2_8_52_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.indcrop.2004.05.004"},{"key":"e_1_2_8_53_1","volume-title":"ISO 1817:2015 Rubber, Vulcanized or Thermoplastic \u2014 Determination of the Effect of Liquids.","year":"2015"},{"key":"e_1_2_8_54_1","volume-title":"ISO 37:2017 Rubber, Vulcanized or Thermoplastic \u2014 Determination of Tensile Stress-Strain Properties","year":"2017"},{"key":"e_1_2_8_55_1","doi-asserted-by":"publisher","DOI":"10.1021\/acs.macromol.1c01927"},{"key":"e_1_2_8_56_1","volume":"6","author":"Rahman J. M. H.","year":"2020","journal-title":"Heliyon"},{"key":"e_1_2_8_57_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.foodhyd.2014.09.016"},{"key":"e_1_2_8_58_1","first-page":"1","volume":"10","author":"Lei J.","year":"2017","journal-title":"Materials"},{"key":"e_1_2_8_59_1","doi-asserted-by":"publisher","DOI":"10.35812\/CelluloseChemTechnol.2019.53.100"},{"key":"e_1_2_8_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3034640"},{"key":"e_1_2_8_61_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2018.01.018"},{"key":"e_1_2_8_62_1","first-page":"1040","author":"Okui M.","year":"2017","journal-title":"IEEE\/RSJ Int. Conf. Intell. Rob. Syst."},{"key":"e_1_2_8_63_1","doi-asserted-by":"publisher","DOI":"10.5254\/1.3538343"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202300473","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T00:43:24Z","timestamp":1759884204000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202300473"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,8]]},"references-count":62,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2024,5]]}},"alternative-id":["10.1002\/aisy.202300473"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202300473","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,8]]},"assertion":[{"value":"2023-08-10","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-03-08","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2300473"}}