{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,3]],"date-time":"2026-10-03T09:56:03Z","timestamp":1791021363058,"version":"4.1.0"},"reference-count":57,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2026,2,4]],"date-time":"2026-02-04T00:00:00Z","timestamp":1770163200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2026,8,1]]},"abstract":"<jats:p>\n                    To test food, drug formulations, and medical devices, extensive research has focused on developing\n                    <jats:italic toggle=\"yes\">in vitro<\/jats:italic>\n                    gastric simulators. Existing simulators range from rigid mechanical systems to flexible polymer-based designs, each with distinct limitations in replicating the stomach\u2019s complex biomechanical properties. While soft pneumatic actuators provide a foundation for soft robotics-based systems, achieving biomimetic functionality requires control strategies that address both contraction motility precision and compliant interaction dynamics. In this study, we integrate admittance control with finite-time state-dependent Riccati equation (FT-SDRE) and propose a compliant and robust combined force and displacement control for a soft actuator used in robotic gastric simulator. This approach enables a more biomimetic simulation of smooth muscle in gastrointestinal (GI) system when the actuators contact the contents and can help reduce excessive stress on the soft actuator. A three-phase contact model is proposed to describe the force-deformation behavior of the actuator while interacting with the contents, followed by experimental validation. The novel admittance-controlled FT-SDRE enhances both safety and physiological realism in soft tissue interaction. Experimental validation was conducted using three objects: an irregular-shaped gelatin sample, a regular-shaped gelatin sample (same material, different geometry), and an air-filled latex balloon. Compared with nonadmittance FT-SDRE control, the admittance-controlled FT-SDRE reduced 11.19% to 38.46% average contact force according to different objects. Across all tests, the time spent above a force threshold was reduced by 35\u201339%, which highlights the potential of the proposed method to improve safety, adaptability, and biomimicry in next-generation\n                    <jats:italic toggle=\"yes\">in vitro<\/jats:italic>\n                    gastric simulation platforms.\n                  <\/jats:p>","DOI":"10.1177\/21695172251415290","type":"journal-article","created":{"date-parts":[[2026,2,4]],"date-time":"2026-02-04T15:12:51Z","timestamp":1770217971000},"page":"669-688","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Finite-Time Admittance Control for Adaptive Compliance of a Soft Actuator of Robotic Gastric Simulator"],"prefix":"10.1177","volume":"13","author":[{"given":"Siqi","family":"Jiang","sequence":"first","affiliation":[{"name":"Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shahab","family":"Kazemi","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin","family":"Stommel","sequence":"additional","affiliation":[{"name":"Department of Electrical &amp; Electronic Engineering, Auckland University of Technology, Auckland, New Zealand."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Leo K.","family":"Cheng","sequence":"additional","affiliation":[{"name":"Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weiliang","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2026,2,4]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.crfs.2021.04.004"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.fct.2019.110657"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2836330"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.14227\/DT260219P20"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.foodres.2019.108598"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12602-023-10052-y"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-59677-8_11"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0136"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0013"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1155\/2011\/583608"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1750-3841.2010.01856.x"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0064"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3137101"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0167"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1002\/eqe.4048"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2501019"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.12989\/sss.2014.13.4.711"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9422-7"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)54600-5"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.10.518"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918768950"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2036.2011.04609.x"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1053\/j.gastro.2016.02.030"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1038\/nrgastro.2012.57"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejpb.2016.09.009"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-010-9355-2_10"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1002\/ueg2.12097"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2024.3506741"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.soard.2015.10.077"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.114919"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejcon.2023.100799"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1186\/s13662-018-1615-x"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.5890\/JAND.2019.06.001"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2010.03.001"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1007\/s42452-020-03649-3"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1177\/17298806231174737"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1177\/09596518221138627"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","unstructured":"Perez-Sanchez V Nekoo SR Arrue BC et al. A finite-time state-dependent differential Riccati equation control design for closed-loop SMA-actuated hip joint. In: 2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) Detroit MI USA IEEE; 2023; pp. 6441\u20136448 doi: 10.1109\/IROS55552.2023.10341562","DOI":"10.1109\/IROS55552.2023.10341562"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(19980415\/30)8:4\/5<401::AID-RNC361>3.0.CO;2-U"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.3182\/20080706-5-KR-1001.00635"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITB.2003.808500"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0002"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10035-007-0078-7"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.1966.0242"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1090\/qam\/10666"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1137\/0111030"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijfatigue.2018.01.007"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.3390\/polym14214592"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1002\/jbm.820150407"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1002\/jbm.b.31042"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201303288"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0202"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2023.0097"},{"key":"e_1_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41427-019-0126-x"}],"container-title":["Soft Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/21695172251415290","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/21695172251415290","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/21695172251415290","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,19]],"date-time":"2026-09-19T05:34:32Z","timestamp":1789796072000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/21695172251415290"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2,4]]},"references-count":57,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2026,8,1]]}},"alternative-id":["10.1177\/21695172251415290"],"URL":"https:\/\/doi.org\/10.1177\/21695172251415290","relation":{},"ISSN":["2169-5172","2169-5180"],"issn-type":[{"value":"2169-5172","type":"print"},{"value":"2169-5180","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2,4]]}}}