{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T15:01:51Z","timestamp":1776783711670,"version":"3.51.2"},"reference-count":32,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2024,9,4]],"date-time":"2024-09-04T00:00:00Z","timestamp":1725408000000},"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":[[2025,4]]},"abstract":"<jats:p>Untethered soft robots (USRs) based on single\u2010actuation methods face inherent limitations due to restricted energy resources, which adversely affect their performance. Pneumatic\u2010tendon\u2010coupled actuators (PTCAs) offer an effective approach for USRs by combining the compliance and variable stiffness of pneumatic actuation with the precision and rapid motion control of tendon\u2010driven actuation. However, current PTCA\u2010based USRs are limited in versatility and efficiency when executing complex tasks. This research introduces discrete pneumatic\u2010tendon\u2010coupled actuators with interconnected air circuit (DPTCAs\u2010IAC) to address these limitations through two major design approaches: 1) multiple discrete DPTCAs with integrated micro pump, providing additional degrees of freedom and independent motion control while regulating internal pressure without significantly adding weight; and 2) interconnecting multiple DPTCAs through air circuits to facilitate gas flow and enhance efficiency. Theoretical modeling and experimental tests conducted on single DPTCA and DPTCAs\u2010IAC show that the IAC effectively reduces actuation torque and that opposite\u2010direction movements consume less energy compared to same\u2010direction movements. An untethered soft robotic gripper and an untethered quadruped robot with soft legs based on DPTCAs\u2010IAC are developed. Both demonstrate excellent controllability, compact system integration, and multifunctionality, highlighting the potential of DPTCAs\u2010IAC in advancing the development of complex untethered soft robots.<\/jats:p>","DOI":"10.1002\/aisy.202400533","type":"journal-article","created":{"date-parts":[[2024,9,4]],"date-time":"2024-09-04T07:51:11Z","timestamp":1725436271000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Discrete Pneumatic\u2010Tendon\u2010Coupled Actuators with Interconnected Air Circuit for Untethered Soft Robots"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-4006-9590","authenticated-orcid":false,"given":"Jiutian","family":"Xia","sequence":"first","affiliation":[{"name":"Shien\u2010ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Huang","sequence":"additional","affiliation":[{"name":"Shien\u2010ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shiling","family":"Fu","sequence":"additional","affiliation":[{"name":"Shien\u2010ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingting","family":"Qu","sequence":"additional","affiliation":[{"name":"Shien\u2010ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liyan","family":"Mo","sequence":"additional","affiliation":[{"name":"Shien\u2010ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8425-2982","authenticated-orcid":false,"given":"Yunquan","family":"Li","sequence":"additional","affiliation":[{"name":"Shien\u2010ming Wu School of Intelligent Engineering South China University of Technology  Guangzhou 511442 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Ren","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering Chengdu University of Technology  Chengdu 611731 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Automation Nanjing University of Information Science and Technology  Nanjing 210044 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yujia","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering Southwest Petroleum University  Chengdu 610500 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Kong Special Administrative Region of China 999077 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,9,4]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3251191"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200274"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3123530"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0024-1"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0008"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2022.3204234"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/25\/8\/085026"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.1602045"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abc6414"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adh7852"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0134"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300285"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adg7165"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100152"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300688"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3311630"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104607"},{"key":"e_1_2_10_19_1","first-page":"3564","volume":"5","author":"Zhang Z.","year":"2020","journal-title":"IEEE Rob. 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