{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T04:03:46Z","timestamp":1775707426947,"version":"3.50.1"},"reference-count":58,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"98","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2025,1,29]]},"abstract":"<jats:p>Snap-through, a rapid transition of a system from an equilibrium state to a nonadjacent equilibrium state, is a valuable design element of soft devices for converting a monolithic stimulus into systematic responses with impulsive motions. A common way to benefit from snap-through is to embody it within structures and materials, such as bistable structures. Torque-reversal mechanisms discovered in nature, which harness snap-through instability via muscular forces, may have comparative advantages. However, the current intricacy of artificial torque-reversal mechanisms, which require sophisticated kinematics\/kinetics, constrains design possibilities for soft joints and devices. Here, we harnessed hyperelasticity to implement a torque-reversal mechanism in a soft joint, generating repetitive cilia-like beating motions through an embedded tendon. The developed hyperelastic torque-reversal mechanism (HeTRM) exhibits transient bistability under a specific compressive displacement\/force threshold, with snap-through occurring at the point where the transience ends. To validate the effectiveness of this design principle, we explored the functionalities of HeTRM in energy storage and release, dual modes for impulsive and continuous motion, mechanical fuse, and rapid three-dimensional motions, through proof-of-concept soft machines. We expect that this design principle provides insight into incorporating snap-through behavior in soft machines and may aid in understanding the relationship between torque-reversal mechanisms and bistability.<\/jats:p>","DOI":"10.1126\/scirobotics.ado7696","type":"journal-article","created":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T19:01:09Z","timestamp":1738177269000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":10,"title":["A hyperelastic torque-reversal mechanism for soft joints with compression-responsive transient bistability"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0987-6028","authenticated-orcid":true,"given":"Woo-Young","family":"Choi","sequence":"first","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea."},{"name":"NAVER LABS Corp., Seongnam-si, Gyeonggi-do, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6126-7935","authenticated-orcid":true,"given":"Woongbae","family":"Kim","sequence":"additional","affiliation":[{"name":"Center for Humanoid Research, Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology (KIST), Seoul, Republic of Korea."},{"name":"Korea Institute of Science and Technology Europe (KIST-EUROPE), 66123 Saarbr\u00fccken, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8650-2252","authenticated-orcid":true,"given":"Jae-Ryeong","family":"Choi","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-8535-9739","authenticated-orcid":true,"given":"Sung Yol","family":"Yu","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-5433-6292","authenticated-orcid":true,"given":"Seunguk","family":"Moon","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8830-3270","authenticated-orcid":true,"given":"Yong-Jai","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Mechatronics Engineering, Kangwon National University, Chuncheon-si, Gangwon-do, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2555-5048","authenticated-orcid":true,"given":"Kyu-Jin","family":"Cho","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul, Republic of Korea."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz6262"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-022-04606-3"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan3028"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100176"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan6357"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1039\/D3MH00773A"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay3493"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau9795"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1815053116"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2215028119"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1608193113"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-020-16458-4"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe0637"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3329760"},{"key":"e_1_3_2_16_2","article-title":"4D printing of humidity-driven seed inspired soft robots","volume":"10","author":"Cecchini L.","year":"2023","unstructured":"L. Cecchini, S. Mariani, M. Ronzan, A. Mondini, N. M. Pugno, B. Mazzolai, 4D printing of humidity-driven seed inspired soft robots. Adv. Sci. 10, (2023).","journal-title":"Adv. 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H. Blumenschein N. S. Usevitch B. H. Do E. W. Hawkes A. M. Okamura Helical actuation on a soft inflated robot body in 2018 IEEE International Conference on Soft Robotics (RoboSoft) (IEEE 2018) pp. 245\u2013252.","DOI":"10.1109\/ROBOSOFT.2018.8404927"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0079"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0070"},{"key":"e_1_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.5254\/1.3538343"},{"key":"e_1_3_2_59_2","unstructured":"K. J. Cho G. P. Jung S. P. Jung G. P. Jung Active clutch mechanism and hopping robot having same U.S. Patent US10724507B2 (2020)."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.ado7696","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T19:01:21Z","timestamp":1738177281000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.ado7696"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,29]]},"references-count":58,"journal-issue":{"issue":"98","published-print":{"date-parts":[[2025,1,29]]}},"alternative-id":["10.1126\/scirobotics.ado7696"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.ado7696","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,29]]},"assertion":[{"value":"2024-02-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-12-23","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-01-29","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eado7696"}}