{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T23:51:52Z","timestamp":1782517912583,"version":"3.54.5"},"publisher-location":"Cham","reference-count":19,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783030891763","type":"print"},{"value":"9783030891770","type":"electronic"}],"license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021]]},"DOI":"10.1007\/978-3-030-89177-0_25","type":"book-chapter","created":{"date-parts":[[2021,10,30]],"date-time":"2021-10-30T06:18:05Z","timestamp":1635574685000},"page":"238-248","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Design of a Multimaterial 3D-Printed Soft Actuator with Bi-directional Variable Stiffness"],"prefix":"10.1007","author":[{"given":"Oliver","family":"Shorthose","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liang","family":"He","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alessandro","family":"Albini","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Perla","family":"Maiolino","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,10,31]]},"reference":[{"key":"25_CR1","doi-asserted-by":"crossref","unstructured":"Kim, S., Laschi, C., Trimmer, B.: Soft robotics: a bioinspired evolution in robotics (May 2013)","DOI":"10.1016\/j.tibtech.2013.03.002"},{"issue":"4","key":"25_CR2","doi-asserted-by":"publisher","first-page":"5502","DOI":"10.1109\/LRA.2020.3007411","volume":"5","author":"S Abondance","year":"2020","unstructured":"Abondance, S., Teeple, C.B., Wood, R.J.: A dexterous soft robotic hand for delicate in-hand manipulation. IEEE Robot. Autom. Lett. 5(4), 5502\u20135509 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"25_CR3","doi-asserted-by":"crossref","unstructured":"Iida, F., Laschi, C.: Soft robotics: challenges and perspectives. In: Procedia Computer Science. vol. 7, pp. 99\u2013102. Elsevier B.V. (January 2011)","DOI":"10.1016\/j.procs.2011.12.030"},{"key":"25_CR4","doi-asserted-by":"crossref","unstructured":"Manti, M., Cacucciolo, V., Cianchetti, M.: Stiffening in soft robotics: a review of the state of the art. IEEE Robot. Autom. Mag. 23(3), 93\u2013106 (2016)","DOI":"10.1109\/MRA.2016.2582718"},{"key":"25_CR5","doi-asserted-by":"crossref","unstructured":"He, L., Leong, F., Dulantha Lalitharatne, T., de Lusignan, S., Nanayakkara, T.: A haptic mouse design with stiffening muscle layer for simulating guarding in abdominal palpation training. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2021)","DOI":"10.1109\/ICRA48506.2021.9561959"},{"key":"25_CR6","doi-asserted-by":"crossref","unstructured":"Babu, S.P.M., Sadeghi, A., Mondini, A., Mazzolai, B.: Antagonistic pneumatic actuators with variable stiffness for soft robotic applications. In: 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), pp. 283\u2013288 (2019)","DOI":"10.1109\/ROBOSOFT.2019.8722803"},{"key":"25_CR7","doi-asserted-by":"crossref","unstructured":"Suzumori, K., Wakimoto, S., Miyoshi, K., Iwata, K.: Long bending rubber mechanism combined contracting and extending fluidic actuators. In: IEEE International Conference on Intelligent Robots and Systems, pp. 4454\u20134459 (2013)","DOI":"10.1109\/IROS.2013.6696996"},{"key":"25_CR8","doi-asserted-by":"crossref","unstructured":"Chen, Y., Chung, H., Chen, B., Sun, Y.: A lobster-inspired bending module for compliant robotic applications. Bioinspir. Biomimet. 15(5), 56009 (2020)","DOI":"10.1088\/1748-3190\/ab9c8d"},{"key":"25_CR9","doi-asserted-by":"crossref","unstructured":"Zhu, M., Mori, Y., Wakayama, T., Wada, A., Kawamura, S.: A Fully Multi-Material Three-Dimensional Printed Soft Gripper with Variable Stiffness for Robust Grasping, vol. 6, pp. 507\u2013519 (2019)","DOI":"10.1089\/soro.2018.0112"},{"key":"25_CR10","doi-asserted-by":"crossref","unstructured":"Yirmibesoglu, O., Morrow, J., Walker, S.: Direct 3D printing of silicone elastomer soft robots and their performance comparison with molded counterparts. In: 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018, pp. 295\u2013302. Institute of Electrical and Electronics Engineers Inc. (July 2018)","DOI":"10.1109\/ROBOSOFT.2018.8404935"},{"key":"25_CR11","doi-asserted-by":"crossref","unstructured":"Sachyani Keneth, E., Kamyshny, A., Totaro, M., Beccai, L., Magdassi, S.: 3D Printing Materials for Soft Robotics. Advanced Materials (2020)","DOI":"10.1002\/adma.202003387"},{"issue":"3","key":"25_CR12","doi-asserted-by":"publisher","first-page":"144","DOI":"10.1089\/soro.2016.0030","volume":"3","author":"HK Yap","year":"2016","unstructured":"Yap, H.K., Ng, H.Y., Yeow, C.H.: High-force soft printable pneumatics for soft robotic applications. Soft Robot. 3(3), 144\u2013158 (2016)","journal-title":"Soft Robot."},{"key":"25_CR13","doi-asserted-by":"crossref","unstructured":"Peele, B.N., Wallin, T.J., Zhao, H., Shepherd, R.F.: 3D printing antagonistic systems of artificial muscle using projection stereolithography. Bioinspir. Biomimet. 10(5), 055003 (2015)","DOI":"10.1088\/1748-3190\/10\/5\/055003"},{"key":"25_CR14","doi-asserted-by":"crossref","unstructured":"He, L., Tan, X., Suzumori, K., Nanayakkara, T.: A method to 3d print a programmable continuum actuator with single material using internal constraint. Sens. Actuators A Phys. 324, 112674 (2021)","DOI":"10.1016\/j.sna.2021.112674"},{"key":"25_CR15","doi-asserted-by":"crossref","unstructured":"Gul, J.Z., et al.: 3D printing for soft robotics-a review (December 2018)","DOI":"10.1080\/14686996.2018.1431862"},{"issue":"4","key":"25_CR16","doi-asserted-by":"publisher","first-page":"373","DOI":"10.1080\/17452759.2020.1795209","volume":"15","author":"A Zolfagharian","year":"2020","unstructured":"Zolfagharian, A., Mahmud, M.A., Gharaie, S., Bodaghi, M., Kouzani, A.Z., Kaynak, A.: 3D\/4D-printed bending-type soft pneumatic actuators: fabrication, modelling, and control. Virtual Phys. Prototyp. 15(4), 373\u2013402 (2020)","journal-title":"Virtual Phys. Prototyp."},{"key":"25_CR17","unstructured":"Smooth-On: Ecoflex 00\u201330 product information. https:\/\/www.smooth-on.com\/products\/ecoflex-00-30\/"},{"key":"25_CR18","unstructured":"Stratasys: Agilus 30. https:\/\/www.stratasys.com\/materials\/search\/agilus30"},{"key":"25_CR19","doi-asserted-by":"crossref","unstructured":"Dammer, G., Gablenz, S., Hildebrandt, A., Major, Z.: Design and shape optimization of PolyJet bellows actuators. In: 2018 IEEE International Conference on Soft Robotics (RoboSoft), pp. 282\u2013287. IEEE (April 2018)","DOI":"10.1109\/ROBOSOFT.2018.8404933"}],"container-title":["Lecture Notes in Computer Science","Towards Autonomous Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-89177-0_25","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,9]],"date-time":"2022-10-09T17:04:56Z","timestamp":1665335096000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-89177-0_25"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"ISBN":["9783030891763","9783030891770"],"references-count":19,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-89177-0_25","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]},"assertion":[{"value":"31 October 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"TAROS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Annual Conference Towards Autonomous Robotic Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Lincoln","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"United Kingdom","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2021","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"8 September 2021","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 September 2021","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"taros2021","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/lcas.lincoln.ac.uk\/wp\/taros-2021\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"EasyChair","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"66","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"45","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"68% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3,1","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3,3","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}