{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T06:54:10Z","timestamp":1762325650718,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,6,28]],"date-time":"2023-06-28T00:00:00Z","timestamp":1687910400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Zhejiang Province Bellwethers Project","award":["2023C03126"],"award-info":[{"award-number":["2023C03126"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Conducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, and drive control. Soft manipulators, a subset of soft robots, are now a popular area of study for many researchers. In comparison to typical manipulators, soft manipulators feature a high degree of gripping flexibility and a basic morphological structure. They are composed of flexible materials. They have a wide range of potential applications in healthcare, rehabilitation, bionics, and detection, and they can compensate for the drawbacks of rigid manipulators in some use scenarios. A modular soft-body torsional gripping system is developed after a torsional and gripping actuator is conceived and constructed, and its performance examined. The torsion actuator and the grasping actuator can be combined in the system in a modular fashion. With the help of RGB-D vision algorithms, this multi-modular setup makes it possible to combine soft actuators with various twisting degrees and achieve exact gripping. Through pneumatic control, the target object is precisely grasped and rotated at various angles, enabling the rotation of the target object in three dimensions.<\/jats:p>","DOI":"10.3390\/robotics12040094","type":"journal-article","created":{"date-parts":[[2023,6,29]],"date-time":"2023-06-29T01:53:57Z","timestamp":1688003637000},"page":"94","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials"],"prefix":"10.3390","volume":"12","author":[{"given":"Zhengyun","family":"Xu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"}]},{"given":"Haiqiang","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"}]},{"given":"Weihua","family":"Feng","sequence":"additional","affiliation":[{"name":"Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China"}]},{"given":"Huaming","family":"Yang","sequence":"additional","affiliation":[{"name":"Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China"}]},{"given":"Xin","family":"Nie","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"}]},{"given":"Rougang","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China"},{"name":"Wenzhou Institute, Hangzhou Dianzi University, Building 11, No. 26, Fengnan Road, Ouhai District, Wenzhou 325024, China"},{"name":"Mstar Technologies, Inc., Hangzhou 310012, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,6,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1038\/nature14543","article-title":"Design, fabrication and control of soft robots","volume":"521","author":"Rus","year":"2015","journal-title":"Nature"},{"key":"ref_2","first-page":"1","article-title":"Soft robotics: Structure, actuation, sensing and control","volume":"53","author":"Wang","year":"2017","journal-title":"J. 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