{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T16:21:29Z","timestamp":1784391689091,"version":"3.55.0"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,9,1]],"date-time":"2023-09-01T00:00:00Z","timestamp":1693526400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,9,1]],"date-time":"2023-09-01T00:00:00Z","timestamp":1693526400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,9]]},"DOI":"10.1007\/s10846-023-01955-7","type":"journal-article","created":{"date-parts":[[2023,9,6]],"date-time":"2023-09-06T03:29:56Z","timestamp":1693970996000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Development of a Soft Pneumatic Actuator with In-built Flexible Sensing Element for Soft Robotic Applications"],"prefix":"10.1007","volume":"109","author":[{"given":"Narendra","family":"Gariya","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pushpendra","family":"Kumar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Brijesh","family":"Prasad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,9,6]]},"reference":[{"issue":"2","key":"1955_CR1","first-page":"102","volume":"1","author":"SI Rich","year":"2018","unstructured":"Rich, S.I., Wood, R.J., Majidi, C.: Untethered soft robotics. Nat. Electron. 1(2), 102\u2013112 (2018)","journal-title":"Untethered soft robotics. Nat. Electron."},{"issue":"3","key":"1955_CR2","doi-asserted-by":"publisher","first-page":"17","DOI":"10.3390\/biomimetics3030017","volume":"3","author":"T Shahid","year":"2018","unstructured":"Shahid, T., Gouwanda, D., Nurzaman, S.G., Gopalai, A.A.: Moving toward soft robotics: A decade review of the design of hand exoskeletons. Biomimetics 3(3), 17 (2018)","journal-title":"Biomimetics"},{"issue":"2","key":"1955_CR3","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01726-w","volume":"106","author":"X Jian","year":"2022","unstructured":"Jian, X., Zou, T.: A Review of Locomotion, Control, and Implementation of Robot Fish. J. Intell. Robot. Syst. 106(2), 1\u201327 (2022)","journal-title":"J. Intell. Robot. Syst."},{"issue":"3","key":"1955_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01754-6","volume":"106","author":"K Singh","year":"2022","unstructured":"Singh, K., Gupta, S.: Controlled actuation, adhesion, and stiffness in soft robots: A review. J. Intell. Robot. Syst. 106(3), 1\u201324 (2022)","journal-title":"J. Intell. Robot. Syst."},{"issue":"6","key":"1955_CR5","doi-asserted-by":"publisher","first-page":"695","DOI":"10.1177\/0278364915596450","volume":"35","author":"IS Godage","year":"2016","unstructured":"Godage, I.S., Medrano-Cerda, G.A., Branson, D.T., Guglielmino, E., Caldwell, D.G.: Dynamics for variable length multisection continuum arms. Int. J. Robot. Res. 35(6), 695\u2013722 (2016)","journal-title":"Int. J. Robot. Res."},{"key":"1955_CR6","doi-asserted-by":"crossref","unstructured":"Cho, K.H., Song, M.G., Jung, H., Park, J., Moon, H., Koo, J.C., ... Choi, H.R.: A robotic finger driven by twisted and coiled polymer actuator. In Electroactive Polymer Actuators and Devices (EAPAD) SPIE, 9798, 275-281 (2016)","DOI":"10.1117\/12.2218957"},{"issue":"1","key":"1955_CR7","doi-asserted-by":"publisher","first-page":"288","DOI":"10.1016\/j.snb.2009.08.039","volume":"142","author":"M Cianchetti","year":"2009","unstructured":"Cianchetti, M., Mattoli, V., Mazzolai, B., Laschi, C., Dario, P.: A new design methodology of electrostrictive actuators for bio-inspired robotics. Sensors Actuators B: Chem. 142(1), 288\u2013297 (2009)","journal-title":"Sensors Actuators B: Chem."},{"issue":"1","key":"1955_CR8","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1089\/soro.2015.0017","volume":"3","author":"H Zhang","year":"2016","unstructured":"Zhang, H., Wang, M.Y.: Multi-axis soft sensors based on dielectric elastomer. Soft Robot. 3(1), 3\u201312 (2016)","journal-title":"Soft Robot."},{"issue":"1","key":"1955_CR9","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1089\/soro.2014.0021","volume":"2","author":"M Loepfe","year":"2015","unstructured":"Loepfe, M., Schumacher, C.M., Lustenberger, U.B., Stark, W.J.: An untethered, jumping roly-poly soft robot driven by combustion. Soft Robot. 2(1), 33\u201341 (2015)","journal-title":"Soft Robot."},{"issue":"7617","key":"1955_CR10","first-page":"400","volume":"536","author":"B Mazzolai","year":"2016","unstructured":"Mazzolai, B., Mattoli, V.: Generation soft. Nat. 536(7617), 400\u2013401 (2016)","journal-title":"Generation soft. Nat."},{"key":"1955_CR11","doi-asserted-by":"publisher","first-page":"554","DOI":"10.1016\/j.sna.2017.07.001","volume":"263","author":"H Khanbareh","year":"2017","unstructured":"Khanbareh, H., de Boom, K., Schelen, B., Scharff, R.B.N., Wang, C.C.L., van der Zwaag, S., Groen, P.: Large area and flexible micro-porous piezoelectric materials for soft robotic skin. Sensors Actuators A: Physical 263, 554\u2013562 (2017)","journal-title":"Sensors Actuators A: Physical"},{"issue":"6","key":"1955_CR12","doi-asserted-by":"publisher","first-page":"2194","DOI":"10.3390\/app10062194","volume":"10","author":"SH Kim","year":"2020","unstructured":"Kim, S.H., Kwon, Y., Kim, K., Cha, Y.: Estimation of hand motion from piezoelectric soft sensor using deep recurrent network. Appl. Sci. 10(6), 2194 (2020)","journal-title":"Appl. Sci."},{"issue":"40","key":"1955_CR13","doi-asserted-by":"publisher","first-page":"8001","DOI":"10.1039\/C9SM01046G","volume":"15","author":"X Yan","year":"2019","unstructured":"Yan, X., Bowen, C.R., Yuan, C., Hao, Z., Pan, M.: Carbon fibre based flexible piezoresistive composites to empower inherent sensing capabilities for soft actuators. Soft Matter 15(40), 8001\u20138011 (2019)","journal-title":"Soft Matter"},{"key":"1955_CR14","doi-asserted-by":"publisher","first-page":"645","DOI":"10.1016\/j.sna.2018.12.006","volume":"285","author":"H Devaraj","year":"2019","unstructured":"Devaraj, H., Yellapantula, K., Stratta, M., McDaid, A., Aw, K.: Embedded piezoresistive pressure sensitive pillars from piezoresistive carbon black composites towards a soft large-strain compressive load sensor. Sensors and Actuators A: Physical 285, 645\u2013651 (2019)","journal-title":"Sensors and Actuators A: Physical"},{"issue":"5","key":"1955_CR15","doi-asserted-by":"publisher","first-page":"768","DOI":"10.3390\/ma11050768","volume":"11","author":"O Atalay","year":"2018","unstructured":"Atalay, O.: Textile-based, interdigital, capacitive, soft-strain sensor for wearable applications. Materials 11(5), 768 (2018)","journal-title":"Materials"},{"issue":"1","key":"1955_CR16","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1109\/TMECH.2018.2872570","volume":"24","author":"Y Lee","year":"2018","unstructured":"Lee, Y., Kim, M., Lee, Y., Kwon, J., Park, Y.L., Lee, D.: Wearable finger tracking and cutaneous haptic interface with soft sensors for multi-fingered virtual manipulation. IEEE\/ASME Trans. Mechatron. 24(1), 67\u201377 (2018)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"42","key":"1955_CR17","doi-asserted-by":"publisher","first-page":"5997","DOI":"10.1002\/adma.201302240","volume":"25","author":"ML Hammock","year":"2013","unstructured":"Hammock, M.L., Chortos, A., Tee, B.C.K., Tok, J.B.H., Bao, Z.: 25th anniversary article: the evolution of electronic skin (e-skin): a brief history, design considerations, and recent progress. Adv. Mater. 25(42), 5997\u20136038 (2013)","journal-title":"Adv. Mater."},{"issue":"41","key":"1955_CR18","doi-asserted-by":"publisher","first-page":"9175","DOI":"10.1002\/adma.201602994","volume":"28","author":"H Yang","year":"2016","unstructured":"Yang, H., Qi, D., Liu, Z., Chandran, B.K., Wang, T., Yu, J., Chen, X.: Soft thermal sensor with mechanical adaptability. Adv. Mater. 28(41), 9175\u20139181 (2016)","journal-title":"Adv. Mater."},{"issue":"2","key":"1955_CR19","doi-asserted-by":"publisher","first-page":"28","DOI":"10.1007\/s10846-023-01815-4","volume":"107","author":"M Boivin","year":"2023","unstructured":"Boivin, M., Lin, K.Y., Wehner, M., Milutinovic, D.: Proprioceptive Touch of a Soft Actuator Containing an Embedded Intrinsically Soft Sensor using Kinesthetic Feedback. Journal of Intelligent & Robotic Systems 107(2), 28 (2023)","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"1","key":"1955_CR20","doi-asserted-by":"publisher","first-page":"7","DOI":"10.3390\/robotics5010007","volume":"5","author":"T Giffney","year":"2016","unstructured":"Giffney, T., Xie, M., Yong, A., Wong, A., Mousset, P., McDaid, A., Aw, K.: Soft pneumatic bending actuator with integrated carbon nanotube displacement sensor. Robotics 5(1), 7 (2016)","journal-title":"Robotics"},{"key":"1955_CR21","doi-asserted-by":"publisher","DOI":"10.1016\/j.addma.2020.101281","volume":"34","author":"CJ Hohimer","year":"2020","unstructured":"Hohimer, C.J., Petrossian, G., Ameli, A., Mo, C., Potschke, P.: 3D printed conductive thermoplastic polyurethane\/carbon nanotube composites for capacitive and piezo-resistive sensing in soft pneumatic actuators. Additive Manufacturing 34, 101281 (2020)","journal-title":"Additive Manufacturing"},{"key":"1955_CR22","doi-asserted-by":"crossref","unstructured":"Park, M., Ohm, Y., Kim, D., Park, Y.L.: Multi-material soft strain sensors with high gauge factors for proprioceptive sensing of soft bending actuators. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), 384-390 (2019, April)","DOI":"10.1109\/ROBOSOFT.2019.8722739"},{"issue":"2","key":"1955_CR23","doi-asserted-by":"publisher","first-page":"164","DOI":"10.1089\/soro.2019.0151","volume":"8","author":"X Li","year":"2021","unstructured":"Li, X., Guo, J., Ma, X., Yang, L., Lee, K.M., Xiong, C.: Flexible capacitive curvature sensor with one-time calibration for amphibious gait monitoring. Soft Robotics 8(2), 164\u2013174 (2021)","journal-title":"Soft Robotics"},{"key":"1955_CR24","doi-asserted-by":"publisher","first-page":"2000244","DOI":"10.1002\/aisy.202000244","volume":"5","author":"YH Lin","year":"2021","unstructured":"Lin, Y.H., Siddall, R., Schwab, F., Fukushima, T., Banerjee, H., Baek, Y., Jusufi, A.: Modeling and control of a soft robotic fish with integrated soft sensing. Adv. Intell. Syst. 5, 2000244 (2021)","journal-title":"Adv. Intell. Syst."},{"key":"1955_CR25","doi-asserted-by":"crossref","unstructured":"Bilodeau, R.A., Yuen, M.C., Case, J.C., Buckner, T.L., Kramer-Bottiglio, R.: Design for control of a soft bidirectional bending actuator. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-8 (2018, October)","DOI":"10.1109\/IROS.2018.8594293"},{"key":"1955_CR26","doi-asserted-by":"publisher","DOI":"10.1016\/j.compositesb.2019.106990","volume":"173","author":"B Prasad","year":"2019","unstructured":"Prasad, B., Gill, F.S., Panwar, V., Anoop, G.: Development of strain sensor using conductive poly (vinylidene fluoride)(PVDF) nanocomposite membrane reinforced with ionic liquid (IL) & carbon nanofiber (CNF). Compos. Part B: Eng. 173, 106990 (2019)","journal-title":"Compos. Part B: Eng."},{"key":"1955_CR27","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2021.112720","volume":"326","author":"T Dong","year":"2021","unstructured":"Dong, T., Gu, Y., Liu, T., Pecht, M.: Resistive and capacitive strain sensors based on customized compliant electrode: Comparison and their wearable applications. Sensors Actuators A: Phys. 326, 112720 (2021)","journal-title":"Sensors Actuators A: Phys."},{"key":"1955_CR28","doi-asserted-by":"crossref","unstructured":"Beitollahi, H., Dourandish, Z., Tajik, S., Jahani, P.M.: Application of Conductive Polymer Nanocomposites. In Conductive Polymers in Analytical Chemistry (pp. 313-344). Am. Chem. Soc. (2022)","DOI":"10.1021\/bk-2022-1405.ch012"},{"issue":"15","key":"1955_CR29","doi-asserted-by":"publisher","first-page":"7880","DOI":"10.3390\/app12157880","volume":"12","author":"MY Razzaq","year":"2022","unstructured":"Razzaq, M.Y., Gonzalez-Gutierrez, J., Mertz, G., Ruch, D., Schmidt, D.F., Westermann, S.: 4D Printing of Multicomponent Shape-Memory Polymer Formulations. Appl. Sci. 12(15), 7880 (2022)","journal-title":"Appl. Sci."},{"issue":"44","key":"1955_CR30","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6528\/ac18d5","volume":"32","author":"L Guo","year":"2021","unstructured":"Guo, L., Wan, K., Liu, B., Wang, Y., Wei, G.: Recent advance in the fabrication of carbon nanofiber-based composite materials for wearable devices. Nanotechnology 32(44), 442001 (2021)","journal-title":"Nanotechnology"},{"issue":"44","key":"1955_CR31","doi-asserted-by":"publisher","first-page":"5536","DOI":"10.1002\/adfm.201300034","volume":"23","author":"HA Toprakci","year":"2013","unstructured":"Toprakci, H.A., Kalanadhabhatla, S.K., Spontak, R.J., Ghosh, T.K.: Polymer nanocomposites containing carbon nanofibers as soft printable sensors exhibiting strain-reversible piezoresistivity. Adv. Funct. Mater. 23(44), 5536\u20135542 (2013)","journal-title":"Adv. Funct. Mater."},{"issue":"7","key":"1955_CR32","doi-asserted-by":"publisher","first-page":"1826","DOI":"10.1021\/acsaelm.0c00278","volume":"2","author":"A Georgopoulou","year":"2020","unstructured":"Georgopoulou, A., Clemens, F.: Piezo-resistive elastomer-based composite strain sensors and their applications. ACS Appl. Electron. Mater. 2(7), 1826\u20131842 (2020)","journal-title":"ACS Appl. Electron. Mater."},{"key":"1955_CR33","doi-asserted-by":"crossref","unstructured":"Robert, C., Feller, J.F., Castro, M.: Sensing skin for strain monitoring made of PC-CNT conductive polymer nanocomposite sprayed layer by layer. ACS Appl. Mater. Interfaces 4(7), 3508\u20133516 (2012)","DOI":"10.1021\/am300594t"},{"issue":"2","key":"1955_CR34","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1016\/j.snb.2009.05.006","volume":"140","author":"J Lu","year":"2009","unstructured":"Lu, J., Kumar, B., Castro, M., Feller, J.F.: Vapour sensing with conductive polymer nanocomposites (CPC): Polycarbonate-carbon nanotubes transducers with hierarchical structure processed by spray layer by layer. Sensors Actuators B: Chem. 140(2), 451\u2013460 (2009)","journal-title":"Sensors Actuators B: Chem."},{"key":"1955_CR35","volume":"40","author":"B Sparrman","year":"2021","unstructured":"Sparrman, B., du Pasquier, C., Thomsen, C., Darbari, S., Rustom, R., Laucks, J., Tibbits, S.: Printed silicone pneumatic actuators for soft robotics. Addit. Manuf. 40, 101860 (2021)","journal-title":"Addit. Manuf."},{"key":"1955_CR36","doi-asserted-by":"publisher","first-page":"3799","DOI":"10.1016\/j.matpr.2022.06.576","volume":"65","author":"N Gariya","year":"2022","unstructured":"Gariya, N., Kumar, P.: A comparison of plane, slow pneu-net, and fast pneu-net designs of soft pneumatic actuators based on bending behavior. Mater. Today: Proceedings 65, 3799\u20133805 (2022)","journal-title":"Mater. Today: Proceedings"},{"issue":"4","key":"1955_CR37","first-page":"145","volume":"14","author":"S Cai","year":"2021","unstructured":"Cai, S., Pan, L., Bao, G., Bai, W., Yang, Q.: Pneumatic webbed soft gripper for unstructured grasping. Int. J. Agric. Biol. Eng. 14(4), 145\u2013151 (2021)","journal-title":"Int. J. Agric. Biol. Eng."},{"issue":"29","key":"1955_CR38","doi-asserted-by":"publisher","first-page":"1707035","DOI":"10.1002\/adma.201707035","volume":"30","author":"J Shintake","year":"2018","unstructured":"Shintake, J., Cacucciolo, V., Floreano, D., Shea, H.: Soft robotic grippers. Adv. Mater. 30(29), 1707035 (2018)","journal-title":"Adv. Mater."},{"key":"1955_CR39","doi-asserted-by":"publisher","first-page":"69","DOI":"10.3389\/frobt.2016.00069","volume":"3","author":"J Hughes","year":"2016","unstructured":"Hughes, J., Culha, U., Giardina, F., Guenther, F., Rosendo, A., Iida, F.: Soft manipulators and grippers: a review. Front. Robot. AI 3, 69 (2016)","journal-title":"Front. Robot. AI"},{"issue":"1","key":"1955_CR40","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01721-1","volume":"106","author":"Y Ye","year":"2022","unstructured":"Ye, Y., Cheng, P., Yan, B., Lu, Y., Wu, C.: Design of a Novel Soft Pneumatic Gripper with Variable Gripping Size and Mode. J. Intell. Robot. Syst. 106(1), 1\u201315 (2022)","journal-title":"J. Intell. Robot. Syst."},{"issue":"5","key":"1955_CR41","doi-asserted-by":"publisher","first-page":"583","DOI":"10.1089\/soro.2019.0105","volume":"7","author":"L Ge","year":"2020","unstructured":"Ge, L., Chen, F., Wang, D., Zhang, Y., Han, D., Wang, T., Gu, G.: Design, modeling, and evaluation of fabric-based pneumatic actuators for soft wearable assistive gloves. Soft Robot. 7(5), 583\u2013596 (2020)","journal-title":"Soft Robot."},{"key":"1955_CR42","doi-asserted-by":"crossref","unstructured":"Chen, X., Gong, L., Wei, L., Yeh, S.C., Da Xu, L., Zheng, L., Zou, Z.: A wearable hand rehabilitation system with soft gloves. IEEE Trans. Ind. Inform. 17(2), 943\u2013952 (2020)","DOI":"10.1109\/TII.2020.3010369"},{"key":"1955_CR43","doi-asserted-by":"crossref","unstructured":"Gariya, N., Kumar, P.: A review on soft materials utilized for the manufacturing of soft robots. Mater. Today: Proc. 46, 11177\u201311181 (2021)","DOI":"10.1016\/j.matpr.2021.02.380"},{"key":"1955_CR44","doi-asserted-by":"crossref","unstructured":"Paleo, A.J., Van Hattum, F.W.J., Pereira, J., Rocha, J.G., Silva, J., Sencadas, V., Lanceros-Mendez, S.: The piezo-resistive effect in polypropylene-carbon nanofibre composites obtained by shear extrusion. Smart Mater. Struct. 19(6), 065013 (2010)","DOI":"10.1088\/0964-1726\/19\/6\/065013"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01955-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01955-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01955-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,29]],"date-time":"2023-09-29T14:43:16Z","timestamp":1695998596000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01955-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,9]]},"references-count":44,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,9]]}},"alternative-id":["1955"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01955-7","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,9]]},"assertion":[{"value":"4 January 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 August 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 September 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest\/Conflict of interest"}},{"value":"Not applicable","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"19"}}