{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T16:55:31Z","timestamp":1791564931719,"version":"4.3.4"},"reference-count":51,"publisher":"Wiley","issue":"51","license":[{"start":{"date-parts":[[2026,7,31]],"date-time":"2026-07-31T00:00:00Z","timestamp":1785456000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,7,31]],"date-time":"2026-07-31T00:00:00Z","timestamp":1785456000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["12372263"],"award-info":[{"award-number":["12372263"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Small"],"published-print":{"date-parts":[[2026,9]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    The biomimetic water strider robot is inspired by the biological water strider and is expected to be applied in fields such as environmental monitoring and reconnaissance. However, currently biomimetic water strider robots are mainly dominated by water pressure. This often leads to severe surface interference, high power consumption, and delayed response. Here, we introduce a lightweight (1.37\u00a0g) water surface skating biomimetic water strider robot driven by an electro\u2010ribbon actuator, which uses surface tension as the dominant force. This robot eliminates the need for a transmission system and achieves direct leg drive, minimizing energy loss and additional mass. Compared with other robots of the same type, this robot exhibits excellent performance, including fast response (millisecond level), minimal disturbance to the water surface (the pitch and swing angles are both below 0.2\u00b0), and lower cost of transportation (1.17 J kg\n                    <jats:sup>\u22121<\/jats:sup>\n                    m\n                    <jats:sup>\u22121<\/jats:sup>\n                    ). We further evaluated the motion stability of the robot. This work provides a foundation for the research of surface tension dominated biomimetic water strider robots and expands the application range of electro\u2010ribbon actuators.\n                  <\/jats:p>","DOI":"10.1002\/smll.74670","type":"journal-article","created":{"date-parts":[[2026,7,31]],"date-time":"2026-07-31T09:02:09Z","timestamp":1785488529000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Electro\u2010Ribbon Actuator\u2010Driven, Responsive Skating Robot Inspired by Water Striders"],"prefix":"10.1002","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-6046-5482","authenticated-orcid":false,"given":"Jianhao","family":"Liu","sequence":"first","affiliation":[{"name":"School of Mechanical Science and Engineering Huazhong University of Science and Technology  Wuhan P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-7166-9581","authenticated-orcid":false,"given":"Yangyang","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering Huazhong University of Science and Technology  Wuhan P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-2661-2998","authenticated-orcid":false,"given":"Heng","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering Huazhong University of Science and Technology  Wuhan P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7472-2693","authenticated-orcid":false,"given":"Yinshui","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering Huazhong University of Science and Technology  Wuhan P. R. China"},{"name":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology  Wuhan P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6340-5273","authenticated-orcid":false,"given":"Xinping","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering Huazhong University of Science and Technology  Wuhan P. R. China"},{"name":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology  Wuhan P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,7,31]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41893-026-01780-4"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax1594"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe2922"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat5643"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe7906"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928\u2010018\u20100024\u20101"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg6049"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010018\u201006491\u20109"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aag2048"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202205732"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1038\/432036a"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.1602045"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz6451"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201101253"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010018\u201008094\u2010w"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aao6139"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1038\/S41467\u2010023\u201037119\u20102"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.1021\/am200382g"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.5772\/58701"},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1021\/ACSNANO.2C05783"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/J.NANTOD.2022.101419"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1021\/am300794z"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2993078"},{"key":"e_1_2_8_26_1","doi-asserted-by":"publisher","DOI":"10.3390\/mi13040627"},{"key":"e_1_2_8_27_1","doi-asserted-by":"crossref","unstructured":"C. K.Trygstad X. T.Nguyen andN. O.P\u00e9rez\u2010Arancibia \u201cA New 1\u2010mg Fast Unimorph SMA\u2010Based Actuator for Microrobotics \u201d in2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems(2023) 2693\u20132700.","DOI":"10.1109\/IROS55552.2023.10342518"},{"key":"e_1_2_8_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.895075"},{"key":"e_1_2_8_29_1","doi-asserted-by":"crossref","unstructured":"K. Y.Lee L.Wang J. H.Qu andK. R.Oldham \u201cMilliscale Biped Vibratory Water Strider \u201d inInternational Conference on Manipulation Automation and Robotics at Small Scales(2019) 1\u20136.","DOI":"10.1109\/MARSS.2019.8860988"},{"key":"e_1_2_8_30_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586\u2010019\u20101737\u20107"},{"key":"e_1_2_8_31_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat2874"},{"key":"e_1_2_8_32_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abi8189"},{"key":"e_1_2_8_33_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748\u20103190\/10\/4\/046016"},{"key":"e_1_2_8_34_1","doi-asserted-by":"publisher","DOI":"10.1002\/smll.202505390"},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau9795"},{"key":"e_1_2_8_36_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0894\u20109166(11)60004\u20109"},{"key":"e_1_2_8_37_1","doi-asserted-by":"publisher","DOI":"10.1088\/0960\u20101317\/2\/3\/027"},{"key":"e_1_2_8_38_1","first-page":"43","article-title":"An Electrostatically Actuated Gas Valve With an S\u2010Shaped Film Element","volume":"4","author":"Sato K.","year":"1992","journal-title":"Proceedings of IEEE Micro Electro Mechanical Systems (MEMS)"},{"key":"e_1_2_8_39_1","doi-asserted-by":"crossref","unstructured":"J.BranebjergandP.Gravesen \u201cA new electrostatic actuator providing improved stroke length and force \u201d inProceedings of IEEE Micro Electro Mechanical Systems (MEMS) Travem\u00fcnde Germany(Feb. 1992) 6\u201311 https:\/\/doi.org\/10.1109\/MEMSYS.1992.187682.","DOI":"10.1109\/MEMSYS.1992.187682"},{"key":"e_1_2_8_40_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.1700065"},{"key":"e_1_2_8_41_1","doi-asserted-by":"publisher","DOI":"10.1051\/jphystap:018960050024401"},{"key":"e_1_2_8_42_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature01793"},{"key":"e_1_2_8_43_1","doi-asserted-by":"publisher","DOI":"10.1021\/la803223r"},{"key":"e_1_2_8_44_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010025\u201058096\u20108"},{"key":"e_1_2_8_45_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe7925"},{"key":"e_1_2_8_46_1","doi-asserted-by":"crossref","unstructured":"X. B.Zhang J. H.Yan J.Zhao G. F.Liu H. G.Cai andQ. M.Pan \u201cA Miniature Surface Tension\u2010Driven Robot Mimicking the Water\u2010Surface Locomotion of Water Strider \u201d inIEEE International Conference on Robotics and Automation Seattle USA(2015) 3172\u20133177.","DOI":"10.1109\/ICRA.2015.7139636"},{"key":"e_1_2_8_47_1","doi-asserted-by":"publisher","DOI":"10.1101\/2024.11.15.623609"},{"key":"e_1_2_8_48_1","doi-asserted-by":"crossref","unstructured":"J. H.Yan K.Yang Y.Yang J.Zhao G. F.Liu andS. F.Tang \u201cA New Robot Skating on Water Surface Intimating Water Striders Based on Flexible Driving Mechanism \u201d inIEEE International Conference on Robotics and Automation Seattle USA(2019) 2468\u20132473.","DOI":"10.1109\/ICRA.2019.8793996"},{"key":"e_1_2_8_49_1","doi-asserted-by":"crossref","unstructured":"G.Wu C.Sheng andY.Shen \u201cStructural Design and Stroke Kinematics Analysis of a Water Strider Robot \u201d inOCEANS 2018 MTS\/IEEECharleston Charleston(2018) 1\u20137.","DOI":"10.1109\/OCEANS.2018.8604764"},{"key":"e_1_2_8_50_1","doi-asserted-by":"publisher","DOI":"10.4031\/MTSJ.50.5.5"},{"key":"e_1_2_8_51_1","doi-asserted-by":"crossref","unstructured":"J.Zhao X.Zhang andQ.Pan \u201cA Water Walking Robot Inspired by Water Strider \u201d in2012 International Conference on Mechatronics and Automation (ICMA) Chengdu China(2012) 1057\u20131061 https:\/\/doi.org\/10.1109\/ICMA.2012.6283380.","DOI":"10.1109\/ICMA.2012.6283380"},{"key":"e_1_2_8_52_1","doi-asserted-by":"publisher","DOI":"10.1080\/01932691.2018.1462199"}],"container-title":["Small"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/smll.74670","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/smll.74670","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/smll.74670","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T16:21:58Z","timestamp":1791562918000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/smll.74670"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7,31]]},"references-count":51,"journal-issue":{"issue":"51","published-print":{"date-parts":[[2026,9]]}},"alternative-id":["10.1002\/smll.74670"],"URL":"https:\/\/doi.org\/10.1002\/smll.74670","archive":["Portico"],"relation":{},"ISSN":["1613-6810","1613-6829"],"issn-type":[{"value":"1613-6810","type":"print"},{"value":"1613-6829","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7,31]]},"assertion":[{"value":"2026-03-12","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-06-30","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-07-31","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e74670"}}