{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T15:09:08Z","timestamp":1776784148796,"version":"3.51.2"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2021,11,1]],"date-time":"2021-11-01T00:00:00Z","timestamp":1635724800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,11,1]],"date-time":"2021-11-01T00:00:00Z","timestamp":1635724800000},"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":["Intel Serv Robotics"],"published-print":{"date-parts":[[2021,11]]},"DOI":"10.1007\/s11370-021-00388-1","type":"journal-article","created":{"date-parts":[[2021,11,2]],"date-time":"2021-11-02T10:04:55Z","timestamp":1635847495000},"page":"691-705","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Novel bio-inspired variable stiffness soft actuator via fiber-reinforced dielectric elastomer, inspired by Octopus bimaculoides"],"prefix":"10.1007","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2520-5515","authenticated-orcid":false,"given":"Alireza","family":"Ahmadi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2063-8699","authenticated-orcid":false,"given":"Masoud","family":"Asgari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,11,2]]},"reference":[{"key":"388_CR1","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1016\/j.tibtech.2013.03.002","volume":"31","author":"S Kim","year":"2013","unstructured":"Kim S, Laschi C, Trimmer B (2013) Soft robotics: a bioinspired evolution in robotics. Trends Biotechnol 31:287\u2013294. https:\/\/doi.org\/10.1016\/j.tibtech.2013.03.002","journal-title":"Trends Biotechnol"},{"key":"388_CR2","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1109\/MRA.2016.2582718","volume":"23","author":"M Manti","year":"2016","unstructured":"Manti M, Cacucciolo V, Cianchetti M (2016) Stiffening in soft robotics: a review of the state of the art. IEEE Robot Autom Mag 23:93\u2013106. https:\/\/doi.org\/10.1109\/MRA.2016.2582718","journal-title":"IEEE Robot Autom Mag"},{"key":"388_CR3","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1089\/soro.2013.0001","volume":"1","author":"C Majidi","year":"2014","unstructured":"Majidi C (2014) Soft robotics: a perspective\u2014current trends and prospects for the future. Soft Rob 1:5\u201311. https:\/\/doi.org\/10.1089\/soro.2013.0001","journal-title":"Soft Rob"},{"key":"388_CR4","doi-asserted-by":"publisher","first-page":"467","DOI":"10.1038\/nature14543","volume":"521","author":"D Rus","year":"2015","unstructured":"Rus D, Tolley MT (2015) Design fabrication and control of soft robots. Nature 521:467\u2013475. https:\/\/doi.org\/10.1038\/nature14543","journal-title":"Nature"},{"key":"388_CR5","doi-asserted-by":"publisher","DOI":"10.1063\/1.4960718","volume":"120","author":"W Sun","year":"2016","unstructured":"Sun W, Liu F, Ma Z, Li C, Zhou J (2016) Soft mobile robots driven by foldable dielectric elastomer actuators. J Appl Phys 120:084901. https:\/\/doi.org\/10.1063\/1.4960718","journal-title":"J Appl Phys"},{"key":"388_CR6","doi-asserted-by":"publisher","first-page":"101848","DOI":"10.1016\/j.rcim.2019.101848","volume":"61","author":"T Sun","year":"2020","unstructured":"Sun T, Chen Y, Han T, Jiao C, Lian B, Song Y (2020) A soft gripper with variable stiffness inspired by pangolin scales. Toothed pneumatic actuator and autonomous controller. Robot Comput Integr Manuf 61:101848. https:\/\/doi.org\/10.1016\/j.rcim.2019.101848","journal-title":"Robot Comput Integr Manuf"},{"key":"388_CR7","doi-asserted-by":"publisher","first-page":"220","DOI":"10.1007\/s42235-018-0017-9","volume":"15","author":"Y Hao","year":"2018","unstructured":"Hao Y, Gong Z, Xie Z, Guan S, Yang X, Wang Tm Wen L (2018) A soft bionic gripper with variable effective length. J Bionic Eng 15:220\u2013235. https:\/\/doi.org\/10.1007\/s42235-018-0017-9","journal-title":"J Bionic Eng"},{"key":"388_CR8","doi-asserted-by":"publisher","first-page":"942","DOI":"10.1016\/j.ymssp.2018.12.028","volume":"121","author":"H Pu","year":"2019","unstructured":"Pu H, Yuan S, Peng Y, Meng K, Zhao J, Xie R, Huang Y, Sun Y, Yang Y, Xie S (2019) Multi-layer electromagnetic spring with tunable negative stiffness for semi-active vibration isolation. Mech Syst Signal Process 121:942\u2013960. https:\/\/doi.org\/10.1016\/j.ymssp.2018.12.028","journal-title":"Mech Syst Signal Process"},{"key":"388_CR9","doi-asserted-by":"publisher","first-page":"065015","DOI":"10.1088\/1361-665x\/ab18d4","volume":"28","author":"D Deng","year":"2019","unstructured":"Deng D, Deng J, Yue R, Han G, Zhang J, Ma M, Zhong X (2019) Design and verification of a seat suspension with variable stiffness and damping. Smart Mater Struct 28:065015. https:\/\/doi.org\/10.1088\/1361-665x\/ab18d4","journal-title":"Smart Mater Struct"},{"key":"388_CR10","doi-asserted-by":"publisher","unstructured":"Baines RL, Booth JW, Fish FE, Kramer-Bottiglio R (2019) Toward a bio-inspired variable-stiffness morphing limb for amphibious robot locomotion. In: 2nd IEEE international conference on soft robotics (RoboSoft). Seoul, Korea, pp 704\u2013710. https:\/\/doi.org\/10.1109\/ROBOSOFT.2019.8722772","DOI":"10.1109\/ROBOSOFT.2019.8722772"},{"key":"388_CR11","doi-asserted-by":"publisher","first-page":"844","DOI":"10.1177\/1045389X19828487","volume":"30","author":"D Nalini","year":"2019","unstructured":"Nalini D, Dhanalakshmi K (2019) Synergistically configured shape memory alloy for variable stiffness translational actuation. J Intell Mater Syst Struct 30:844\u2013854. https:\/\/doi.org\/10.1177\/1045389X19828487","journal-title":"J Intell Mater Syst Struct"},{"key":"388_CR12","doi-asserted-by":"publisher","unstructured":"Yang Y, Kan Z, Zhang Y, Tse YA, Wang MY (2019) A novel variable stiffness actuator based on pneumatic actuation and supercoiled polymer artificial muscles. In: International conference on robotics and automation (ICRA). Montreal, Canada, pp 3983\u20133989. https:\/\/doi.org\/10.1109\/ICRA.2019.8793844","DOI":"10.1109\/ICRA.2019.8793844"},{"key":"388_CR13","doi-asserted-by":"publisher","first-page":"631","DOI":"10.1089\/soro.2018.0046","volume":"6","author":"WB Li","year":"2019","unstructured":"Li WB, Zhang WM, Zou HX, Peng ZK, Meng G (2019) Bioinspired variable stiffness dielectric elastomer actuators with large and tunable load capacity. Soft Robot 6:631\u2013643. https:\/\/doi.org\/10.1089\/soro.2018.0046","journal-title":"Soft Robot"},{"key":"388_CR14","doi-asserted-by":"publisher","first-page":"085033","DOI":"10.1088\/1361-665X\/aa76ba","volume":"26","author":"WB Li","year":"2017","unstructured":"Li WB, Zhang WM, Zou HX, Peng ZK, Meng G (2017) A novel variable stiffness mechanism for dielectric elastomer actuators. Smart Mater Struct 26:085033. https:\/\/doi.org\/10.1088\/1361-665X\/aa76ba","journal-title":"Smart Mater Struct"},{"key":"388_CR15","doi-asserted-by":"publisher","first-page":"44","DOI":"10.3390\/act8020044","volume":"8","author":"DP Allen","year":"2019","unstructured":"Allen DP, Bol\u00edvar E, Farmer S, Voit W, Gregg RD (2019) Mechanical simplification of variable-stiffness actuators using dielectric elastomer transducers. Actuators 8:44. https:\/\/doi.org\/10.3390\/act8020044","journal-title":"Actuators"},{"key":"388_CR16","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1089\/soro.2016.0027","volume":"3","author":"Y Wei","year":"2016","unstructured":"Wei Y, Chen Y, Ren T, Chen Q, Yan C, Yang Y, Li Y (2016) A novel, variable stiffness robotic gripper based on integrated soft actuating and particle jamming. Soft Robot 3:134\u2013143. https:\/\/doi.org\/10.1089\/soro.2016.0027","journal-title":"Soft Robot"},{"key":"388_CR17","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1016\/j.mechatronics.2019.05.001","volume":"60","author":"Y Peng","year":"2019","unstructured":"Peng Y, Liu Y, Yang Y, Liu N, Sun Y, Liu Y, Pu H, Xie S, Luo J (2019) Development of continuum manipulator actuated by thin McKibben pneumatic artificial muscle. Mechatronics 60:56\u201365. https:\/\/doi.org\/10.1016\/j.mechatronics.2019.05.001","journal-title":"Mechatronics"},{"key":"388_CR18","doi-asserted-by":"publisher","unstructured":"Stilli A, Wurdemann HA, Althoefer K (2014) Shrinkable stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principle. In: IEEE\/RSJ international conference on intell robots and systems, Illinois, USA, pp 2476\u20132481. https:\/\/doi.org\/10.1109\/IROS.2014.6942899","DOI":"10.1109\/IROS.2014.6942899"},{"key":"388_CR19","doi-asserted-by":"publisher","first-page":"9409","DOI":"10.1002\/anie.201301918","volume":"52","author":"J Biggs","year":"2013","unstructured":"Biggs J, Danielmeier K, Hitzbleck J, Krause J, Kridl T, Nowak S, Orselli E, Quan X, Schapeler D, Sutherland W, Wagner J (2013) Electroactive polymers: developments of and perspectives for dielectric elastomers. Angew Chem Int Ed 52:9409\u20139421. https:\/\/doi.org\/10.1002\/anie.201301918","journal-title":"Angew Chem Int Ed"},{"key":"388_CR20","doi-asserted-by":"publisher","first-page":"178302","DOI":"10.1103\/PhysRevLett.104.178302","volume":"104","author":"X Zhao","year":"2010","unstructured":"Zhao X, Suo Z (2010) Theory of dielectric elastomers capable of giant deformation of actuation. Phys rev lett 104:178302. https:\/\/doi.org\/10.1103\/PhysRevLett.104.178302","journal-title":"Phys rev lett"},{"key":"388_CR21","doi-asserted-by":"publisher","first-page":"8","DOI":"10.1016\/j.sna.2016.01.013","volume":"239","author":"K Jia","year":"2016","unstructured":"Jia K, Lu T, Wang TJ (2016) Response time and dynamic range for a dielectric elastomer actuator. Sens Actuators A 239:8\u201317. https:\/\/doi.org\/10.1016\/j.sna.2016.01.013","journal-title":"Sens Actuators A"},{"key":"388_CR22","doi-asserted-by":"publisher","first-page":"3474","DOI":"10.3390\/s18103474","volume":"18","author":"A Khan","year":"2018","unstructured":"Khan A, Khan FR, Kim HS (2018) Electro-active paper as a flexible mechanical sensor. Actuator and energy harvesting transducer: a review. Sensors 18:3474. https:\/\/doi.org\/10.3390\/s18103474","journal-title":"Sensors"},{"key":"388_CR23","doi-asserted-by":"publisher","unstructured":"Chavanne J, Civet Y, Perriard Y (2016) Modelling of a dielectric electroactive polymer tubular shape sensor for pressure measurements. In: IEEE international conference on advanced intelligent mechatronics (AIM), Alberta, Canada, pp 810\u2013815. https:\/\/doi.org\/10.1109\/AIM.2016.7576868","DOI":"10.1109\/AIM.2016.7576868"},{"key":"388_CR24","doi-asserted-by":"publisher","first-page":"085018","DOI":"10.1088\/1361-665X\/aa723f","volume":"26","author":"L Liu","year":"2017","unstructured":"Liu L, Zhang C, Luo M, Chen X, Li D, Chen H (2017) A biologically inspired artificial muscle based on fiber-reinforced and electropneumatic dielectric elastomers. Smart Mater Struct 26:085018. https:\/\/doi.org\/10.1088\/1361-665X\/aa723f","journal-title":"Smart Mater Struct"},{"key":"388_CR25","doi-asserted-by":"publisher","first-page":"316","DOI":"10.1021\/acs.accounts.8b00516","volume":"52","author":"Y Qiu","year":"2019","unstructured":"Qiu Y, Zhang E, Plamthottam R, Pei Q (2019) Dielectric elastomer artificial muscle: materials innovations and device explorations. Acc Chem Res 52:316\u2013325. https:\/\/doi.org\/10.1021\/acs.accounts.8b00516","journal-title":"Acc Chem Res"},{"key":"388_CR26","doi-asserted-by":"publisher","first-page":"276","DOI":"10.1016\/j.sna.2017.06.018","volume":"263","author":"FA Mohd Ghazali","year":"2017","unstructured":"Mohd Ghazali FA, Mah CK, AbuZaiter A, Chee PS, Mohamed Ali MS (2017) Soft dielectric elastomer actuator micropump. Sens Actuators A 263:276\u2013284. https:\/\/doi.org\/10.1016\/j.sna.2017.06.018","journal-title":"Sens Actuators A"},{"key":"388_CR27","doi-asserted-by":"publisher","first-page":"085023","DOI":"10.1088\/1361-665X\/aa746d","volume":"26","author":"M Hill","year":"2017","unstructured":"Hill M, Rizzello G, Seelecke S (2017) Development and experimental characterization of a pneumatic valve actuated by a dielectric elastomer membrane. Smart Mater Struct 26:085023. https:\/\/doi.org\/10.1088\/1361-665X\/aa746d","journal-title":"Smart Mater Struct"},{"key":"388_CR28","doi-asserted-by":"publisher","first-page":"103002","DOI":"10.1088\/1361-665x\/ab3a77","volume":"28","author":"U Gupta","year":"2019","unstructured":"Gupta U, Qin L, Wang Y, Godaba H, Zhu Z (2019) Soft robots based on dielectric elastomer actuators: a review. Smart Mater Struct 28:103002. https:\/\/doi.org\/10.1088\/1361-665x\/ab3a77","journal-title":"Smart Mater Struct"},{"key":"388_CR29","doi-asserted-by":"publisher","first-page":"182906","DOI":"10.1063\/1.4983036","volume":"110","author":"GK Lau","year":"2017","unstructured":"Lau GK, Heng KR, Ahmed AS, Shrestha M (2017) Dielectric elastomer fingers for versatile grasping and nimble pinching. Appl Phys Lett 110:182906. https:\/\/doi.org\/10.1063\/1.4983036","journal-title":"Appl Phys Lett"},{"key":"388_CR30","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1109\/TOH.2018.2805901","volume":"11","author":"S Mun","year":"2018","unstructured":"Mun S, Yun S, Nam S, Park SK, Park S, Park BJ, Lim JM, Kyung KU (2018) Electro-active polymer based soft tactile interface for wearable devices. IEEE Trans Haptics 11:15\u201321. https:\/\/doi.org\/10.1109\/TOH.2018.2805901","journal-title":"IEEE Trans Haptics"},{"key":"388_CR31","doi-asserted-by":"publisher","first-page":"2825","DOI":"10.1007\/s11012-015-0270-5","volume":"50","author":"H Phung","year":"2015","unstructured":"Phung H, Nguyen CT, Nguyen TD, Lee C, Kim U, Lee D, Nam JD, Moon H, Koo JC, Choi HR (2015) Tactile display with rigid coupling based on soft actuator. Meccanica 50:2825\u20132837. https:\/\/doi.org\/10.1007\/s11012-015-0270-5","journal-title":"Meccanica"},{"key":"388_CR32","doi-asserted-by":"publisher","unstructured":"Berlinger F, Duduta M, Gloria H, Clarke D, Nagpal R, Wood R (2018) A modular dielectric elastomer actuator to drive miniature autonomous underwater vehicles. In: IEEE international conference on robotics and automation (ICRA), Brisbane, Australia, pp 3429\u20133435. https:\/\/doi.org\/10.1109\/ICRA.2018.8461217","DOI":"10.1109\/ICRA.2018.8461217"},{"key":"388_CR33","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1080\/15583724.2016.1268156","volume":"57","author":"K Wang","year":"2016","unstructured":"Wang K, Ouyang G, Chen X, Jakobsen H (2016) Engineering electroactive dielectric elastomers for miniature electromechanical transducers. Polym Rev 57:369\u2013396. https:\/\/doi.org\/10.1080\/15583724.2016.1268156","journal-title":"Polym Rev"},{"key":"388_CR34","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1002\/jmor.10548","volume":"268","author":"WM Kier","year":"2007","unstructured":"Kier WM, Stella MP (2007) The arrangement and function of octopus arm musculature and connective tissue. J Morphol 268:831\u2013843. https:\/\/doi.org\/10.1002\/jmor.10548","journal-title":"J Morphol"},{"key":"388_CR35","doi-asserted-by":"publisher","first-page":"103364","DOI":"10.1016\/j.ijnonlinmec.2019.103364","volume":"119","author":"A Ahmadi","year":"2019","unstructured":"Ahmadi A, Asgari M (2019) Nonlinear coupled electro-mechanical behavior of a novel anisotropic fiber-reinforced dielectric elastomer. Int J Non Linear Mech 119:103364. https:\/\/doi.org\/10.1016\/j.ijnonlinmec.2019.103364","journal-title":"Int J Non Linear Mech"},{"key":"388_CR36","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1016\/j.compositesa.2016.11.002","volume":"92","author":"J Gu","year":"2017","unstructured":"Gu J, Meng X, Tang Y, Li Y, Zhuang Q, Kong J (2017) Hexagonal boron nitride\/polymethyl-vinyl siloxane rubber dielectric thermally conductive composites with ideal thermal stabilities. Compos A Appl Sci Manuf 92:27\u201332. https:\/\/doi.org\/10.1016\/j.compositesa.2016.11.002","journal-title":"Compos A Appl Sci Manuf"},{"key":"388_CR37","unstructured":"Peel LD (1998) Fabrication and mechanics of fiber-reinforced elastomers. PhD thesis, Department of mechanical engineering, Brigham Young University, Utah, United States"},{"key":"388_CR38","doi-asserted-by":"publisher","first-page":"064101","DOI":"10.1063\/1.4864402","volume":"104","author":"Y Wang","year":"2014","unstructured":"Wang Y, Chen B, Bai Y, Wang H, Zhou J (2014) Actuating dielectric elastomers in pure shear deformation by elastomeric conductors. Appl Phys Lett 104:064101. https:\/\/doi.org\/10.1063\/1.4864402","journal-title":"Appl Phys Lett"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-021-00388-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-021-00388-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-021-00388-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,3]],"date-time":"2021-12-03T11:25:09Z","timestamp":1638530709000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-021-00388-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,11]]},"references-count":38,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2021,11]]}},"alternative-id":["388"],"URL":"https:\/\/doi.org\/10.1007\/s11370-021-00388-1","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,11]]},"assertion":[{"value":"24 May 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 October 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 November 2021","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 declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}]}}