{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,18]],"date-time":"2026-02-18T06:33:04Z","timestamp":1771396384262,"version":"3.50.1"},"reference-count":56,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2025,4,15]],"date-time":"2025-04-15T00:00:00Z","timestamp":1744675200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2025,4,15]],"date-time":"2025-04-15T00:00:00Z","timestamp":1744675200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2025,9]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>A better capacity for moving in restricted spaces, such as pipeline inspection and post\u2010disaster rescue, is a key point in soft locomotion robots. Therefore, the more compact design of robots attracts great attention, including the excellent deformation ratio of the robots\u2019 structure and the integration with the actuator. However, those pose a new challenge, that is, it is difficult to coordinate the deformation ratio between the actuator and the structure. In this study, inspired by the muscle\u2010skeleton tension structure, a novel lever\u2010type layout of the actuator is proposed to solve this issue. Firstly, the hollow Miura\u2010origami structure with excellent deformation ability is adopted as the skeleton of the robot. Then, theoretical and experimental results show that the deformation amplification of the actuator can be realized with the lever\u2010type layout, i.e., the 25% deformation ratio of the SMA spring actuator can achieve about 60% deformation ratio of the Miura\u2010origami structure. Finally, based on the equivalent dynamic model and the non\u2010dominated sorting genetic algorithm II (NSGA\u2010II), the operation scenario of this new layout is demonstrated through numerical simulation. The results verify the feasibility of the new design from a simulation perspective and lay the foundation for the subsequent actuation design and control of the Miura\u2010origami earthworm\u2010like soft robot.<\/jats:p>","DOI":"10.1002\/rob.22558","type":"journal-article","created":{"date-parts":[[2025,4,15]],"date-time":"2025-04-15T14:54:35Z","timestamp":1744728875000},"page":"2936-2951","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Bioinspired Design for Soft Robot Deformation Amplification: Layout Planning, Experimental Verification, and Potential Applications"],"prefix":"10.1002","volume":"42","author":[{"given":"Binbin","family":"Diao","sequence":"first","affiliation":[{"name":"School of Aerospace Engineering and Applied Mechanics Tongji University Shanghai China"},{"name":"School of Aerospace Engineering North University of China Taiyuan 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