{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T06:46:49Z","timestamp":1782974809776,"version":"3.54.5"},"reference-count":38,"publisher":"Royal Society of Chemistry (RSC)","issue":"40","license":[{"start":{"date-parts":[[2019,8,23]],"date-time":"2019-08-23T00:00:00Z","timestamp":1566518400000},"content-version":"vor","delay-in-days":234,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc\/3.0\/"}],"funder":[{"DOI":"10.13039\/501100000288","name":"Royal Society","doi-asserted-by":"crossref","award":["RGS\\R2\\180110"],"award-info":[{"award-number":["RGS\\R2\\180110"]}],"id":[{"id":"10.13039\/501100000288","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"crossref","award":["201706150102"],"award-info":[{"award-number":["201706150102"]}],"id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["rsc.org"],"crossmark-restriction":true},"short-container-title":["Soft Matter"],"abstract":"<p>We have developed carbon fibre based flexible piezoresistive composites to fabricate a new pneumatic soft finger with an inherent sensing capability, much like a human finger.<\/p>","DOI":"10.1039\/c9sm01046g","type":"journal-article","created":{"date-parts":[[2019,8,23]],"date-time":"2019-08-23T07:23:31Z","timestamp":1566545011000},"page":"8001-8011","update-policy":"https:\/\/doi.org\/10.1039\/rsc_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["Carbon fibre based flexible piezoresistive composites to empower inherent sensing capabilities for soft actuators"],"prefix":"10.1039","volume":"15","author":[{"given":"Xue","family":"Yan","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath"},{"name":"Bath"},{"name":"UK"},{"name":"Science and Technology on Advanced Functional Composites Laboratory Aerospace Research Institute of Material and Processing Technology"},{"name":"Beijing 100076"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chris R.","family":"Bowen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath"},{"name":"Bath"},{"name":"UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenggang","family":"Yuan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath"},{"name":"Bath"},{"name":"UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhe","family":"Hao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath"},{"name":"Bath"},{"name":"UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2901-3388","authenticated-orcid":false,"given":"Min","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Bath"},{"name":"Bath"},{"name":"UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"292","published-online":{"date-parts":[[2019]]},"reference":[{"key":"C9SM01046G-(cit1)\/*[position()=1]","first-page":"1","author":"Cianchetti","year":"2018","journal-title":"Nat. Rev. Mater."},{"issue":"3","key":"C9SM01046G-(cit2)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"035008","DOI":"10.1088\/1748-3190\/10\/3\/035008","volume":"10","author":"Ranzani","year":"2015","journal-title":"Bioinspiration Biomimetics"},{"key":"C9SM01046G-(cit3)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/j.robot.2014.08.014","volume":"73","author":"Polygerinos","year":"2015","journal-title":"Rob. Auton. Syst."},{"issue":"400","key":"C9SM01046G-(cit4)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"eaai9084","DOI":"10.1126\/scitranslmed.aai9084","volume":"9","author":"Awad","year":"2017","journal-title":"Sci. Transl. Med."},{"key":"C9SM01046G-(cit5)\/*[position()=1]","volume-title":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","author":"Manti","year":"2016","unstructured":"M. Manti  ,  A.Pratesi ,  E.Falotico ,  M.Cianchetti  and  C.Laschi ,  Soft assistive robot for personal care of elderly people ,  2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) ,  2016 , pp. 833\u2013838"},{"key":"C9SM01046G-(cit6)\/*[position()=1]","first-page":"1","volume":"33","author":"Banerjee","year":"2018","journal-title":"Int. J. Robot. Autom."},{"key":"C9SM01046G-(cit7)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/j.eml.2018.05.003","volume":"22","author":"Coyle","year":"2018","journal-title":"Extreme Mech. Lett."},{"issue":"12","key":"C9SM01046G-(cit8)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1700016","DOI":"10.1002\/adem.201700016","volume":"19","author":"Polygerinos","year":"2017","journal-title":"Adv. Eng. Mater."},{"issue":"7553","key":"C9SM01046G-(cit9)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1038\/nature14543","volume":"521","author":"Rus","year":"2015","journal-title":"Nature"},{"key":"C9SM01046G-(cit10)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"349","DOI":"10.1016\/j.sna.2015.09.041","volume":"236","author":"Ozel","year":"2015","journal-title":"Sens. Actuators, A"},{"issue":"1","key":"C9SM01046G-(cit11)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1016\/j.sna.2006.10.037","volume":"139","author":"Wisitsoraat","year":"2007","journal-title":"Sens. Actuators, A"},{"issue":"2","key":"C9SM01046G-(cit12)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"656","DOI":"10.1109\/LRA.2017.2779542","volume":"3","author":"Yang","year":"2018","journal-title":"IEEE Robot. Autom. Lett."},{"key":"C9SM01046G-(cit13)\/*[position()=1]","volume-title":"2016 IEEE International Conference on Robotics and Automation (ICRA)","author":"Morrow","year":"2016","unstructured":"J. Morrow  ,  H. S.Shin ,  C.Phillips-Grafflin ,  S. H.Jang ,  J.Torrey ,  R.Larkins ,  S.Dang ,  Y. L.Park  and  D.Berenson ,  Improving soft pneumatic actuator fingers through integration of soft sensors, position and force control, and rigid fingernails ,  2016 IEEE International Conference on Robotics and Automation (ICRA) ,  2016 , pp. 5024\u20135031"},{"issue":"3","key":"C9SM01046G-(cit14)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1600018","DOI":"10.1002\/admt.201600018","volume":"1","author":"Yeo","year":"2016","journal-title":"Adv. Mater. Technol."},{"issue":"36","key":"C9SM01046G-(cit15)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"6307","DOI":"10.1002\/adma.201400334","volume":"26","author":"Muth","year":"2014","journal-title":"Adv. Mater."},{"issue":"8","key":"C9SM01046G-(cit16)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"2711","DOI":"10.1109\/JSEN.2012.2200790","volume":"12","author":"Park","year":"2012","journal-title":"IEEE Sens. J."},{"key":"C9SM01046G-(cit17)\/*[position()=1]","first-page":"4488","author":"Park","year":"2011","journal-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst."},{"issue":"5","key":"C9SM01046G-(cit18)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"571","DOI":"10.1177\/0278364909353956","volume":"29","author":"Shin","year":"2010","journal-title":"Int. J. Robot. Res."},{"issue":"33","key":"C9SM01046G-(cit19)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"6912","DOI":"10.1039\/C8SM00897C","volume":"14","author":"Khalili","year":"2018","journal-title":"Soft Matter"},{"issue":"26","key":"C9SM01046G-(cit20)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"eaav1488","DOI":"10.1126\/scirobotics.aav1488","volume":"4","author":"Thuruthel","year":"2019","journal-title":"Science Robotics"},{"key":"C9SM01046G-(cit21)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1016\/j.robot.2015.07.015","volume":"74","author":"Kappassov","year":"2015","journal-title":"Rob. Auton. Syst."},{"issue":"11","key":"C9SM01046G-(cit22)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1678","DOI":"10.1002\/adfm.201504755","volume":"26","author":"Amjadi","year":"2016","journal-title":"Adv. Funct. Mater."},{"issue":"44","key":"C9SM01046G-(cit23)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"11878","DOI":"10.1039\/C8TC02946F","volume":"6","author":"Li","year":"2018","journal-title":"J. Mater. Chem. C"},{"issue":"1","key":"C9SM01046G-(cit24)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1088\/1674-4926\/39\/1\/011012","volume":"39","author":"Ge","year":"2018","journal-title":"J. Semicond."},{"key":"C9SM01046G-(cit25)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1126\/scirobotics.aah3690","volume":"1","author":"Laschi","year":"2016","journal-title":"Science Robotics"},{"key":"C9SM01046G-(cit26)\/*[position()=1]","doi-asserted-by":"publisher","first-page":"1800626","DOI":"10.1002\/admt.201800626","volume":"4","author":"Xie","year":"2019","journal-title":"Adv. Mater. Technol."},{"key":"C9SM01046G-(cit27)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.sna.2013.11.018","volume":"208","author":"Canavese","year":"2014","journal-title":"Sens. Actuators, A"},{"issue":"9","key":"C9SM01046G-(cit28)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1002\/adma.201801072","volume":"31","author":"Wang","year":"2019","journal-title":"Adv. Mater."},{"issue":"3","key":"C9SM01046G-(cit29)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"845","DOI":"10.1039\/C5SM01958C","volume":"12","author":"Wang","year":"2016","journal-title":"Soft Matter"},{"issue":"18","key":"C9SM01046G-(cit30)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"4180","DOI":"10.1039\/C6SM00204H","volume":"12","author":"Khalili","year":"2016","journal-title":"Soft Matter"},{"issue":"2","key":"C9SM01046G-(cit31)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1143","DOI":"10.1021\/acs.nanolett.8b04514","volume":"19","author":"Guo","year":"2019","journal-title":"Nano Lett."},{"issue":"14","key":"C9SM01046G-(cit32)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"1748","DOI":"10.1177\/0278364914543793","volume":"33","author":"Menguc","year":"2014","journal-title":"Int. J. Robot. Res."},{"issue":"13","key":"C9SM01046G-(cit33)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"2483","DOI":"10.1039\/C7SM00095B","volume":"13","author":"Wang","year":"2017","journal-title":"Soft Matter"},{"issue":"44","key":"C9SM01046G-(cit34)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"5536","DOI":"10.1002\/adfm.201300034","volume":"23","author":"Toprakci","year":"2013","journal-title":"Adv. Funct. Mater."},{"issue":"1","key":"C9SM01046G-(cit35)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"170","DOI":"10.3390\/ma12010170","volume":"12","author":"Nu\u00f1o","year":"2019","journal-title":"Materials"},{"key":"C9SM01046G-(cit36)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"4022","DOI":"10.1109\/ICRA.2016.7487592","author":"Hawkes","year":"2016","journal-title":"2016 IEEE International Conference on Robotics and Automation (ICRA)"},{"issue":"2","key":"C9SM01046G-(cit37)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1007\/s41315-017-0018-6","volume":"1","author":"Pinto","year":"2017","journal-title":"Int. J. Intelligent Robot. Appl."},{"issue":"15","key":"C9SM01046G-(cit38)\/*[position()=1]","doi-asserted-by":"crossref","first-page":"157601","DOI":"10.1103\/PhysRevLett.92.157601","volume":"92","author":"Almond","year":"2004","journal-title":"Phys. Rev. Lett."}],"container-title":["Soft Matter"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/pubs.rsc.org\/en\/content\/articlepdf\/2019\/SM\/C9SM01046G","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T05:17:35Z","timestamp":1782969455000},"score":1,"resource":{"primary":{"URL":"https:\/\/pubs.rsc.org\/sm\/article\/15\/40\/8001-8011\/665338"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019]]},"references-count":38,"journal-issue":{"issue":"40","published-print":{"date-parts":[[2019,10,16]]}},"URL":"https:\/\/doi.org\/10.1039\/c9sm01046g","relation":{},"ISSN":["1744-683X","1744-6848"],"issn-type":[{"value":"1744-683X","type":"print"},{"value":"1744-6848","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019]]},"assertion":[{"value":"This document is Similarity Check deposited","name":"similarity_check","explanation":{"URL":"https:\/\/www.crossref.org\/services\/similarity-check\/"},"group":{"name":"similarity_check","label":"SIMILARITY CHECK"}},{"value":"Supplementary Information","URL":"https:\/\/doi.org\/10.1039\/C9SM01046G","name":"related_data","group":{"name":"related_data","label":"RELATED DATA"}},{"value":"Min Pan (ORCID)","URL":"http:\/\/orcid.org\/0000-0002-2901-3388","name":"identifier","group":{"name":"author_identifiers","label":"IDENTIFIERS"}},{"value":"Single-blind","order":2,"name":"peer_review_method","group":{"name":"peer_review_method","label":"PEER REVIEW METHOD"}},{"value":"Received 24 May 2019; Accepted 23 August 2019;  Accepted Manuscript published 23 August 2019;  Advance Article published 30 August 2019;  Version of Record published 16 October 2019","order":1,"name":"history","group":{"name":"publication_history","label":"PUBLICATION HISTORY"}}]}}