{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T13:39:07Z","timestamp":1783690747025,"version":"3.55.0"},"reference-count":20,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2024,10,15]],"date-time":"2024-10-15T00:00:00Z","timestamp":1728950400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,10,15]],"date-time":"2024-10-15T00:00:00Z","timestamp":1728950400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100002352","name":"Ain Shams University","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100002352","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci Rep"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Robots support and facilitate tasks in all life fields. Soft robots specifically have the advantages of inherent compliance, safe interaction and flexible deformability. Soft pneumatic network (Pneu-Net) is a soft pneumatic actuator (SPA) composed of network of chambers that is actuated by pneumatic power. Soft Pneu-Net fits the human interface applications perfectly. In this paper, a bio-inspired modular based design for Pneu-Net actuator is developed. The actuator mimics the elephant trunk curling to be employed for rehabilitation of human hand fingers. The actuator is an integrated four Pneu-Net modules actuator which is attached to hand\u2019s finger. The main introduced advantages in the new developed actuator are: providing four degrees of freedom (DoF) essential for finger\u2019s motion by single compound actuator and developing a methodology for a modular soft Pneu-Net actuator that is efficiently reproducible. The actuator\u2019s design is developed using computer aided design (CAD) software SOLIDWORKS. The design is simulated using finite element modeling (FEM) software ABAQUS. Fabrication process uses 3D printed molds. Soft material is molded in the 3D printed molds, forming actuator\u2019s modules. Actuator\u2019s modules are integrated by adhesion using the soft material. A proposed non-standard hyper-elastic material biaxial tension test is introduced as a quick material properties identification method that can produce a test table used for material identification in the FEM. Enhanced version for the actuator uses reinforcement fibers. Results show advances for the reinforced actuator, as it limits the unwanted actuator\u2019s strain and deformation. The reinforced actuator shows improved energy efficiency reaches to 46%.<\/jats:p>","DOI":"10.1038\/s41598-024-74105-0","type":"journal-article","created":{"date-parts":[[2024,10,15]],"date-time":"2024-10-15T14:44:47Z","timestamp":1729003487000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Modular soft pneumatic actuator mimics elephant trunk locomotion"],"prefix":"10.1038","volume":"14","author":[{"given":"Ahmad R.","family":"Elchrif","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammed I.","family":"Awad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shady A.","family":"Maged","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amna","family":"Ramzy","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,10,15]]},"reference":[{"issue":"1","key":"74105_CR1","doi-asserted-by":"publisher","first-page":"106","DOI":"10.1007\/s11771-019-3986-x","volume":"26","author":"Z Sun","year":"2019","unstructured":"Sun, Z., Guo, Z. & Tang, W. Design of wearable hand rehabilitation glove with soft hoop-reinforced pneumatic actuator. J. Cent. South. Univ.  26 (1), 106\u2013119 (2019).","journal-title":"J. Cent. South. Univ."},{"issue":"4","key":"74105_CR2","doi-asserted-by":"publisher","first-page":"462","DOI":"10.1089\/soro.2020.0039","volume":"8","author":"G Gu","year":"2021","unstructured":"Gu, G., Wang, D., Ge, L. & Zhu, X. Analytical modeling and design of generalized pneu-net soft actuators with three-dimensional deformations. Soft Robot. 8 (4), 462\u2013477 (2021).","journal-title":"Soft Robot."},{"key":"74105_CR3","doi-asserted-by":"crossref","unstructured":"Yap, H., Kai, F., Sebastian, C., Wiedeman & Chen-Hua, Y. IEEE,. Design and characterization of low-cost fabricbased flat pneumatic actuators for soft assistive glove application. In 2017 International Conference on Rehabilitation Robotics (ICORR), 1465\u20131470 (2017).","DOI":"10.1109\/ICORR.2017.8009454"},{"issue":"1","key":"74105_CR4","first-page":"26","volume":"2","author":"F Connolly","year":"2015","unstructured":"Connolly, F., Polygerinos, P., Walsh, C. J. & Bertoldi, K. Mech. Program. soft Actuators Varying fiber Angle Soft Robot. 2(1), 26\u201332 (2015).","journal-title":"Mech. Program. Soft Actuators Varying Fiber Angle Soft Robot."},{"key":"74105_CR5","doi-asserted-by":"publisher","first-page":"258","DOI":"10.1016\/j.sna.2016.09.028","volume":"250","author":"A Zolfagharian","year":"2016","unstructured":"Zolfagharian, A., Kouzani, A. Z., Khoo, S. Y. & Moghadam, A. A. A., Gibson, I., Kaynak, A. Evolution of 3D printed soft actuators. Sens. Actuators A. Phys. 250, 258\u2013272 (2016).","journal-title":"Sens. Actuators A: Phys."},{"issue":"10","key":"74105_CR6","doi-asserted-by":"publisher","first-page":"2000128","DOI":"10.1002\/aisy.202000128","volume":"2","author":"N El-Atab","year":"2020","unstructured":"El-Atab, N., Mishra, R. B., Al-Modaf, F., Joharji, L. & Alsharif, A. A., Alamoudi, H., Diaz, M., Qaiser, N., Mustafa Hussain, M. Soft actuators for soft robotic applications: a review. Adv. Intell. Syst. 2 (10), 2000128 (2020).","journal-title":"Adv. Intell. Syst."},{"key":"74105_CR7","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1002\/adfm.202170293","volume":"31","author":"C Zhu","year":"2021","unstructured":"Zhu, C., Lu, Y. & Jiang, L. Liquid crystal soft actuators and robots toward mixed reality. Adv. Funct. Mater. 31, 39 (2021).","journal-title":"Adv. Funct. Mater."},{"issue":"7","key":"74105_CR8","doi-asserted-by":"publisher","first-page":"073002","DOI":"10.1088\/1361-665X\/ac6e15","volume":"31","author":"F Ahmed","year":"2022","unstructured":"Ahmed, F. et al. Decade of bio-inspired soft robots: a review. Smart Mater. Struct. 31 (7), 073002 (2022).","journal-title":"Smart Mater. Struct."},{"key":"74105_CR9","doi-asserted-by":"crossref","unstructured":"Joe, S., Bliah, O., Magdassi, S. & Beccai, L. Jointless bioinspired soft robotics by harnessing micro and macroporosity. Adv. Sci. 2302080. (2023).","DOI":"10.1002\/advs.202302080"},{"key":"74105_CR10","unstructured":"Wang, Z. & Freris, N. M. Bioinspired soft spiral robots for versatile grasping and manipulation. arXiv preprint arXiv:2303.09861 (2023)."},{"issue":"3","key":"74105_CR11","doi-asserted-by":"publisher","first-page":"1383","DOI":"10.1109\/LRA.2017.2669366","volume":"2","author":"H Yap","year":"2017","unstructured":"Yap, H. et al. Jeong Hoon Lim, and Chen-Hua Yeow. A fully fabric-based bidirectional soft robotic glove for assistance and rehabilitation of hand impaired patients. IEEE Robot. Autom. Lett. 2 (3), 1383\u20131390 (2017).","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"74105_CR12","doi-asserted-by":"publisher","first-page":"015013","DOI":"10.1088\/1361-665X\/abc062","volume":"30","author":"J Wirekoh","year":"2020","unstructured":"Wirekoh, J., Parody, N., Riviere, C. N., Park, Y.L. Design of fiber-reinforced soft bending pneumatic artificial muscles for wearable tremor suppression devices. Smart Mater. Struct. 30 (1), 015013 (2020).","journal-title":"Smart Mater. Struct."},{"key":"74105_CR13","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1016\/j.robot.2014.08.014","volume":"73","author":"P Polygerinos","year":"2015","unstructured":"Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J. & Walsh, C.J. Soft robotic glove for combined assistance and at-home rehabilitation. Robot. Auton. Syst. 73, 135\u2013143 (2015).","journal-title":"Robot. Auton. Syst."},{"key":"74105_CR14","doi-asserted-by":"crossref","unstructured":"Heung, K. H. L., Raymond, K. Y., Tong, Alan, T. H., Lau, Z. & Li. Robotic glove with soft-elastic composite actuators for assisting activities of daily living. Soft Robot. 6(2), 289\u2013304 (2019).","DOI":"10.1089\/soro.2017.0125"},{"key":"74105_CR15","doi-asserted-by":"crossref","unstructured":"Jiang, Y. et al. Soft robotic glove for hand rehabilitation based on a novel fabrication method. In IEEE International Conference on Robotics and Biomimetics (ROBIO), 817\u2013822 (IEEE, 2017).","DOI":"10.1109\/ROBIO.2017.8324518"},{"issue":"2","key":"74105_CR16","doi-asserted-by":"publisher","first-page":"198","DOI":"10.1016\/j.jht.2020.03.024","volume":"33","author":"H-J Mahdi","year":"2020","unstructured":"Mahdi, H.-J., Patterson, R. M., Bugnariu, N., Wijesundara, B. J. A pilot study on the design and validation of a hybrid exoskeleton robotic device for hand rehabilitation. J. Hand Ther. 33 (2), 198\u2013208 (2020).","journal-title":"J. Hand Ther."},{"issue":"3","key":"74105_CR17","doi-asserted-by":"publisher","first-page":"681","DOI":"10.1007\/s10514-018-9754-1","volume":"43","author":"BS Homberg","year":"2019","unstructured":"Homberg, B. S., Katzschmann, R.K., Dogar, M. R., Rus, D. Robust proprioceptive grasping with a soft robot hand. Auton. Robots. 43 (3), 681\u2013696 (2019).","journal-title":"Auton. Robots"},{"key":"74105_CR18","unstructured":"Nandasiri, H. M. A. & Gayani, K. A Study of use of mini-bladders in Active Compression as a Treatment for Venous Disease and Lymphoedema (Nottingham Trent University, 2019)."},{"key":"74105_CR19","unstructured":"Treloar, L. G. The physics of rubber elasticity (1975)."},{"key":"74105_CR20","first-page":"17","volume":"78","author":"T Rehman","year":"2016","unstructured":"Rehman, T. et al. Design and analysis of bending motion in single and dual chamber bellows structured soft actuators. J. Teknol. 78, 17\u201323 (2016).","journal-title":"J. Teknol"}],"container-title":["Scientific Reports"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-74105-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-74105-0","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-74105-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,15]],"date-time":"2024-10-15T14:51:32Z","timestamp":1729003892000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41598-024-74105-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,15]]},"references-count":20,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2024,12]]}},"alternative-id":["74105"],"URL":"https:\/\/doi.org\/10.1038\/s41598-024-74105-0","relation":{},"ISSN":["2045-2322"],"issn-type":[{"value":"2045-2322","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,10,15]]},"assertion":[{"value":"26 May 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 September 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 October 2024","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 no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"24169"}}