{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T11:26:19Z","timestamp":1767871579316,"version":"3.49.0"},"reference-count":27,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2026,1,7]],"date-time":"2026-01-07T00:00:00Z","timestamp":1767744000000},"content-version":"vor","delay-in-days":6,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100001906","name":"Washington Research Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100001906","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DGE2244082"],"award-info":[{"award-number":["DGE2244082"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2026,1]]},"abstract":"<jats:p>\n                    Fiber\u2010reinforced elastomeric enclosures are widely used due to their lightweight, low\u2010cost, and compliant structure. However, these actuators produce only a single motion when pressurized, based on their fixed, embedded fibers. In contrast, active fiber\u2010reinforced elastomeric enclosures (AFREEs) use active fiber\u2010constraint layers to create different motions, enabling versatility. In this paper, we introduced and verified a static fiber model to optimize AFREEs. Next, we created AFREEs that use both embedded and active constraints and measured their twist. We implemented two machine learning (ML) models, a support vector machine (SVM) and a fully connected neural network (FCNN), to create a forward and inverse static response model. The static fiber model yielded an average error of 2.5%. Our AFREE twisted up to 110\u00b0. There were strong fits for the forward static response model (SVM:\n                    <jats:italic>R<\/jats:italic>\n                    <jats:sup>2<\/jats:sup>\n                    \u2009=\u20090.9917; FCNN:\n                    <jats:italic>R<\/jats:italic>\n                    <jats:sup>2<\/jats:sup>\n                    \u2009=\u20090.9901) and moderate fits for the inverse static response model (SVM:\n                    <jats:italic>R<\/jats:italic>\n                    <jats:sup>2<\/jats:sup>\n                    \u2009=\u20090.6985; FCNN:\n                    <jats:italic>R<\/jats:italic>\n                    <jats:sup>2<\/jats:sup>\n                    \u2009=\u20090.7656). Our results show the strength of data\u2010driven AFREE modeling, while laying the groundwork for customizable AFREE units.\n                  <\/jats:p>","DOI":"10.1155\/joro\/8827476","type":"journal-article","created":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T07:35:40Z","timestamp":1767857740000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Design Optimization and Data\u2010Driven Static Modeling for Active Fiber\u2010Reinforced Elastomeric Enclosures"],"prefix":"10.1155","volume":"2026","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6579-8752","authenticated-orcid":false,"given":"Kyle T.","family":"Yoshida","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-5894-0720","authenticated-orcid":false,"given":"Justin","family":"Pilgrim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-6915-7708","authenticated-orcid":false,"given":"Justin","family":"Allen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-9337-1141","authenticated-orcid":false,"given":"Christopher","family":"Ninatanta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-7272-2069","authenticated-orcid":false,"given":"Ryan","family":"Dorosh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7916-7062","authenticated-orcid":false,"given":"Ming","family":"Luo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2026,1,7]]},"reference":[{"key":"e_1_2_14_1_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_2_14_2_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/5\/055001"},{"key":"e_1_2_14_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2024.3365669"},{"key":"e_1_2_14_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_14_5_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201800541"},{"key":"e_1_2_14_6_2","doi-asserted-by":"crossref","unstructured":"Bishop-MoserJ. 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OkamuraA. andLuoM. AFREEs: Active Fiber Reinforced Elastomeric Enclosures IEEE International Conference on Robotics and Automation 2020 New Haven CT USA IEEE 305\u2013311.","DOI":"10.1109\/RoboSoft48309.2020.9115988"},{"key":"e_1_2_14_17_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3158982"},{"key":"e_1_2_14_18_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.1630812"},{"key":"e_1_2_14_19_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0007"},{"key":"e_1_2_14_20_2","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100165"},{"key":"e_1_2_14_21_2","doi-asserted-by":"crossref","unstructured":"LuoM. SkorinaE. H. TaoW. ChenF. andOnalC. D. Optimized Design of a Rigid Kinematic Module for Antagonistic Soft Actuation IEEE International Conference on Technologies for Practical Robot Applications 2015 Woburn MA USA IEEE 1\u20136.","DOI":"10.1109\/TePRA.2015.7219694"},{"key":"e_1_2_14_22_2","doi-asserted-by":"crossref","unstructured":"RungeG. PetersJ. andRaatzA. 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