{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T21:37:06Z","timestamp":1776461826696,"version":"3.51.2"},"publisher-location":"New York, NY, USA","reference-count":75,"publisher":"ACM","license":[{"start":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T00:00:00Z","timestamp":1758931200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["2427455"],"award-info":[{"award-number":["2427455"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"name":"First Year Fellowship in Mechanical Engineering Department at UC Berkeley","award":[""],"award-info":[{"award-number":[""]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,9,28]]},"DOI":"10.1145\/3746059.3747685","type":"proceedings-article","created":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T07:44:49Z","timestamp":1758959089000},"page":"1-21","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["MorphingSkin: A Skin-like Platform that Integrates Multimodal Hydraulic Actuators Based on Flexible Electroosmotic Pumps"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0609-0994","authenticated-orcid":false,"given":"Tianyu","family":"Yu","sequence":"first","affiliation":[{"name":"Morphing Matter Lab, University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0901-2051","authenticated-orcid":false,"given":"Peisheng","family":"He","sequence":"additional","affiliation":[{"name":"University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-7801-280X","authenticated-orcid":false,"given":"Bob Tianqi","family":"Wei","sequence":"additional","affiliation":[{"name":"College of Engineering, University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-6335-038X","authenticated-orcid":false,"given":"Chenyuheng","family":"Wang","sequence":"additional","affiliation":[{"name":"Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-0551-4197","authenticated-orcid":false,"given":"Xueqing","family":"Li","sequence":"additional","affiliation":[{"name":"Tsinghua university, Beijing, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-0206-9801","authenticated-orcid":false,"given":"Xuezhu","family":"Wang","sequence":"additional","affiliation":[{"name":"Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1094-8562","authenticated-orcid":false,"given":"Yao","family":"Lu","sequence":"additional","affiliation":[{"name":"Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0236-0184","authenticated-orcid":false,"given":"Wei","family":"Yue","sequence":"additional","affiliation":[{"name":"University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-9662-2504","authenticated-orcid":false,"given":"Megan","family":"Teng","sequence":"additional","affiliation":[{"name":"University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4018-1603","authenticated-orcid":false,"given":"Zihan","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7083-624X","authenticated-orcid":false,"given":"Liwei","family":"Lin","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, University of California, Berkeley, Berkeley, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0560-4228","authenticated-orcid":false,"given":"Haipeng","family":"Mi","sequence":"additional","affiliation":[{"name":"Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4507-1382","authenticated-orcid":false,"given":"Qi","family":"Lu","sequence":"additional","affiliation":[{"name":"The Future Laboratory, Tsinghua University, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8842-2317","authenticated-orcid":false,"given":"Lining","family":"Yao","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Morphing Matter Lab, University of California, Berkeley, Berkeley, California, USA"}]}],"member":"320","published-online":{"date-parts":[[2025,9,27]]},"reference":[{"key":"e_1_3_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300414"},{"key":"e_1_3_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1145\/3689050.3704934"},{"key":"e_1_3_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606818"},{"key":"e_1_3_3_2_5_2","doi-asserted-by":"publisher","unstructured":"Thomas J.\u00a0K. Buchner Toshihiko Fukushima Amirhossein Kazemipour Stephan-Daniel Gravert Manon Prairie Pascal Romanescu Philip Arm Yu Zhang Xingrui Wang Steven\u00a0L. Zhang Johannes Walter Christoph Keplinger and Robert\u00a0K. Katzschmann. 2024. Electrohydraulic musculoskeletal robotic leg for agile adaptive yet energy-efficient locomotion. Nature Communications 15 1 (Sept. 2024) 7634. 10.1038\/s41467-024-51568-3Publisher: Nature Publishing Group.","DOI":"10.1038\/s41467-024-51568-3"},{"key":"e_1_3_3_2_6_2","doi-asserted-by":"publisher","unstructured":"Vito Cacucciolo Jun Shintake Yu Kuwajima Shingo Maeda Dario Floreano and Herbert Shea. 2019. Stretchable pumps for soft machines. Nature 572 7770 (Aug. 2019) 516\u2013519. 10.1038\/s41586-019-1479-6Number: 7770 Publisher: Nature Publishing Group.","DOI":"10.1038\/s41586-019-1479-6"},{"key":"e_1_3_3_2_7_2","doi-asserted-by":"publisher","unstructured":"Hsu-Feng Chang and Shyang-Jye Chang. 2025. Design optimization and performance enhancement of electroosmotic pumps for tactile applications using Taguchi-based methodology. Sensors and Actuators A: Physical 389 (Aug. 2025) 116568. 10.1016\/j.sna.2025.116568","DOI":"10.1016\/j.sna.2025.116568"},{"key":"e_1_3_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/3526113.3545644"},{"key":"e_1_3_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517532"},{"key":"e_1_3_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1145\/3411763.3451602"},{"key":"e_1_3_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3173894"},{"key":"e_1_3_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501926"},{"key":"e_1_3_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1145\/2858036.2858192"},{"key":"e_1_3_3_2_14_2","doi-asserted-by":"publisher","unstructured":"Amir Firouzeh Ayana Mizutani Jonas Groten Martin Zirkl and Herbert Shea. 2024. PopTouch: A Submillimeter Thick Dynamically Reconfigured Haptic Interface with Pressable Buttons. Advanced Materials 36 8 (2024) 2307636. 10.1002\/adma.202307636_eprint: https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/adma.202307636.","DOI":"10.1002\/adma.202307636"},{"key":"e_1_3_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606732"},{"key":"e_1_3_3_2_16_2","doi-asserted-by":"publisher","unstructured":"Jesse\u00a0T. Gonzalez and Scott\u00a0E. Hudson. 2022. Layer by Layer Patterned Valves Enable Programmable Soft Surfaces. Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. 6 1 (March 2022) 12:1\u201312:25. 10.1145\/3517251","DOI":"10.1145\/3517251"},{"key":"e_1_3_3_2_17_2","doi-asserted-by":"publisher","unstructured":"Daniel Groeger and J\u00fcrgen Steimle. 2018. ObjectSkin: Augmenting Everyday Objects with Hydroprinted Touch Sensors and Displays. Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. 1 4 (Jan. 2018) 134:1\u2013134:23. 10.1145\/3161165","DOI":"10.1145\/3161165"},{"key":"e_1_3_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376195"},{"key":"e_1_3_3_2_19_2","doi-asserted-by":"publisher","unstructured":"Doyeon Han Moonyoung Park Junsuk Choi Heonseop Shin Donghwan Kim and Sungsoo Rhim. 2022. Assessment of Pain Onset and Maximum Bearable Pain Thresholds in Physical Contact Situations. Sensors (Basel Switzerland) 22 8 (April 2022) 2996. 10.3390\/s22082996","DOI":"10.3390\/s22082996"},{"key":"e_1_3_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1145\/3242587.3242667"},{"key":"e_1_3_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606766"},{"key":"e_1_3_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501844"},{"key":"e_1_3_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1145\/2807442.2807472"},{"key":"e_1_3_3_2_24_2","doi-asserted-by":"publisher","unstructured":"Yuhan Hu and Guy Hoffman. 2023. What Can a Robot\u2019s Skin Be? Designing Texture-changing Skin for Human\u2013Robot Social Interaction. J. Hum.-Robot Interact. 12 2 (2023) 26:1\u201326:19. 10.1145\/3532772","DOI":"10.1145\/3532772"},{"key":"e_1_3_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1145\/2702613.2702969"},{"key":"e_1_3_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1145\/3654777.3676431"},{"key":"e_1_3_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1145\/3569009.3573122"},{"key":"e_1_3_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1145\/3332165.3347905"},{"key":"e_1_3_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642658"},{"key":"e_1_3_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3581172"},{"key":"e_1_3_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1145\/2971763.2971777"},{"key":"e_1_3_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3445786"},{"key":"e_1_3_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3517633"},{"key":"e_1_3_3_2_34_2","doi-asserted-by":"publisher","unstructured":"Pin-Sung Ku Shuwen Jiang Wei-Hsin Wang and Hsin-Liu\u00a0Cindy Kao. 2024. ECSkin: Tessellating Electrochromic Films for Reconfigurable On-skin Displays. Proc. ACM Interact. Mob. Wearable Ubiquitous Technol. 8 2 (May 2024) 60:1\u201360:26. 10.1145\/3659613","DOI":"10.1145\/3659613"},{"key":"e_1_3_3_2_35_2","doi-asserted-by":"publisher","unstructured":"Edouard Leroy and Herbert Shea. [n. d.]. Hydraulically Amplified Electrostatic Taxels (HAXELs) for Full Body Haptics. ([n. d.]). 10.1002\/admt.202300242","DOI":"10.1002\/admt.202300242"},{"key":"e_1_3_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3501990"},{"key":"e_1_3_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3445777"},{"key":"e_1_3_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1145\/3472749.3474747"},{"key":"e_1_3_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1145\/3332165.3347956"},{"key":"e_1_3_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606765"},{"key":"e_1_3_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300862"},{"key":"e_1_3_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613904.3642299"},{"key":"e_1_3_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376129"},{"key":"e_1_3_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1145\/3610591.3616434"},{"key":"e_1_3_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1145\/3491102.3502096"},{"key":"e_1_3_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1145\/2984511.2984520"},{"key":"e_1_3_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300400"},{"key":"e_1_3_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1145\/3461778.3462093"},{"key":"e_1_3_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS59260.2024.10520864"},{"key":"e_1_3_3_2_50_2","doi-asserted-by":"publisher","unstructured":"Philipp Rothemund Nicholas Kellaris Shane\u00a0K. Mitchell Eric Acome and Christoph Keplinger. 2021. HASEL Artificial Muscles for a New Generation of Lifelike Robots\u2014Recent Progress and Future Opportunities. Advanced Materials 33 19 (2021) 2003375. 10.1002\/adma.202003375_eprint: https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/adma.202003375.","DOI":"10.1002\/adma.202003375"},{"key":"e_1_3_3_2_51_2","doi-asserted-by":"publisher","unstructured":"Natalia Sanchez-Tamayo Zachary Yoder Philipp Rothemund Giulia Ballardini Christoph Keplinger and Katherine\u00a0J. Kuchenbecker. [n. d.]. Cutaneous Electrohydraulic (CUTE) Wearable Devices for Pleasant Broad-Bandwidth Haptic Cues. Advanced Science n\/a n\/a ([n. d.]) 2402461. 10.1002\/advs.202402461_eprint: https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.202402461.","DOI":"10.1002\/advs.202402461"},{"key":"e_1_3_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3580639"},{"key":"e_1_3_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1145\/3680530.3695445"},{"key":"e_1_3_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606771"},{"key":"e_1_3_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1145\/3411763.3451513"},{"key":"e_1_3_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3581547"},{"key":"e_1_3_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3581098"},{"key":"e_1_3_3_2_58_2","doi-asserted-by":"publisher","unstructured":"Wei Sun Yuwen Chen Yanjun Chen Xiaopeng Zhang Simon Zhan Yixin Li Jiecheng Wu Teng Han Haipeng Mi Jingxian Wang Feng Tian and Xing-Dong Yang. 2022. MicroFluID: A Multi-Chip RFID Tag for Interaction Sensing Based on Microfluidic Switches. Proceedings of the ACM on Interactive Mobile Wearable and Ubiquitous Technologies 6 3 (2022) 141:1\u2013141:23. 10.1145\/3550296","DOI":"10.1145\/3550296"},{"key":"e_1_3_3_2_59_2","doi-asserted-by":"publisher","DOI":"10.1145\/3399715.3399874"},{"key":"e_1_3_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3581382"},{"key":"e_1_3_3_2_61_2","doi-asserted-by":"publisher","unstructured":"Wei Tang Yiding Zhong Huxiu Xu Kecheng Qin Xinyu Guo Yu Hu Pingan Zhu Yang Qu Dong Yan Zhaoyang Li Zhongdong Jiao Xujun Fan Huayong Yang and Jun Zou. 2023. Self-protection soft fluidic robots with rapid large-area self-healing capabilities. Nature Communications 14 1 (Oct. 2023) 6430. 10.1038\/s41467-023-42214-5Publisher: Nature Publishing Group.","DOI":"10.1038\/s41467-023-42214-5"},{"key":"e_1_3_3_2_62_2","doi-asserted-by":"publisher","DOI":"10.1145\/3025453.3025466"},{"key":"e_1_3_3_2_63_2","doi-asserted-by":"publisher","DOI":"10.1145\/3242587.3242645"},{"key":"e_1_3_3_2_64_2","doi-asserted-by":"publisher","DOI":"10.1145\/3379337.3415829"},{"key":"e_1_3_3_2_65_2","doi-asserted-by":"publisher","DOI":"10.1145\/3472749.3474751"},{"key":"e_1_3_3_2_66_2","doi-asserted-by":"publisher","DOI":"10.1145\/3654777.3676364"},{"key":"e_1_3_3_2_67_2","doi-asserted-by":"publisher","DOI":"10.1145\/2501988.2502037"},{"key":"e_1_3_3_2_68_2","doi-asserted-by":"publisher","DOI":"10.1145\/2702123.2702611"},{"key":"e_1_3_3_2_69_2","doi-asserted-by":"publisher","unstructured":"Zachary Yoder Ellen\u00a0H. Rumley Ingemar Schmidt Philipp Rothemund and Christoph Keplinger. 2024. Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots. Science Robotics 9 94 (Sept. 2024) eadl3546. 10.1126\/scirobotics.adl3546Publisher: American Association for the Advancement of Science.","DOI":"10.1126\/scirobotics.adl3546"},{"key":"e_1_3_3_2_70_2","doi-asserted-by":"publisher","DOI":"10.1145\/3613905.3650747"},{"key":"e_1_3_3_2_71_2","doi-asserted-by":"publisher","DOI":"10.1145\/3672539.3686785"},{"key":"e_1_3_3_2_72_2","doi-asserted-by":"publisher","DOI":"10.1145\/3629606.3629654"},{"key":"e_1_3_3_2_73_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3580743"},{"key":"e_1_3_3_2_74_2","doi-asserted-by":"publisher","DOI":"10.1145\/3544548.3580692"},{"key":"e_1_3_3_2_75_2","doi-asserted-by":"publisher","DOI":"10.1145\/3654777.3676341"},{"key":"e_1_3_3_2_76_2","doi-asserted-by":"publisher","DOI":"10.1145\/3526113.3545705"}],"event":{"name":"UIST '25: The 38th Annual ACM Symposium on User Interface Software and Technology","location":"Busan Republic of Korea","acronym":"UIST '25","sponsor":["SIGCHI ACM Special Interest Group on Computer-Human Interaction","SIGGRAPH ACM Special Interest Group on Computer Graphics and Interactive Techniques"]},"container-title":["Proceedings of the 38th Annual ACM Symposium on User Interface Software and Technology"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3746059.3747685","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3746059.3747685","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T22:10:21Z","timestamp":1759011021000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3746059.3747685"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,27]]},"references-count":75,"alternative-id":["10.1145\/3746059.3747685","10.1145\/3746059"],"URL":"https:\/\/doi.org\/10.1145\/3746059.3747685","relation":{},"subject":[],"published":{"date-parts":[[2025,9,27]]},"assertion":[{"value":"2025-09-27","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}