{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T00:07:58Z","timestamp":1781914078116,"version":"3.54.5"},"reference-count":62,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2023,11,12]],"date-time":"2023-11-12T00:00:00Z","timestamp":1699747200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Comunidad Aut\u00f3noma de la Regi\u00f3n de Murcia","award":["2I18SAE00056"],"award-info":[{"award-number":["2I18SAE00056"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This work presents the fabrication and characterization of a triple-layered biomimetic muscle constituted by polypyrrole (PPy)-dodecylbenzenesulfonate (DBS)\/adhesive tape\/PPy-DBS demonstrating simultaneous sensing and actuation capabilities. The muscle was controlled by a neurobiologically inspired cortical neural network sending agonist and antagonist signals to the conducting polymeric layers. Experiments consisted of controlled voluntary movements of the free end of the muscle at angles of \u00b120\u00b0, \u00b130\u00b0, and \u00b140\u00b0 while monitoring the muscle\u2019s potential response. Results show the muscle\u2019s potential varies linearly with applied current amplitude during actuation, enabling current sensing. A linear dependence between muscle potential and temperature enabled temperature sensing. Electrolyte concentration changes also induced exponential variations in the muscle\u2019s potential, allowing for concentration sensing. Additionally, the influence of the electric current density on the angular velocity, the electric charge density, and the desired angle was studied. Overall, the conducting polymer-based soft biomimetic muscle replicates properties of natural muscles, permitting simultaneous motion control, current, temperature, and concentration sensing. The integrated neural control system exhibits key features of biological motion regulation. This muscle actuator with its integrated sensing and control represents an advance for soft robotics, prosthetics, and biomedical devices requiring biomimetic multifunctionality.<\/jats:p>","DOI":"10.3390\/s23229132","type":"journal-article","created":{"date-parts":[[2023,11,13]],"date-time":"2023-11-13T02:46:47Z","timestamp":1699843607000},"page":"9132","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Simultaneous Sensing and Actuating Capabilities of a Triple-Layer Biomimetic Muscle for Soft Robotics"],"prefix":"10.3390","volume":"23","author":[{"given":"Francisco","family":"Garc\u00eda-C\u00f3rdova","sequence":"first","affiliation":[{"name":"Department of Thermal and Fluid Engineering, Polytechnic University of Cartagena, Campus Muralla del Mar, 30203 Cartagena, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antonio","family":"Guerrero-Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"Department of Automation, Electrical Engineering and Electronic Technology, Polytechnic University of Cartagena, Campus Muralla del Mar, 30203 Cartagena, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joaqu\u00edn","family":"Zueco","sequence":"additional","affiliation":[{"name":"Department of Thermal and Fluid Engineering, Polytechnic University of Cartagena, Campus Muralla del Mar, 30203 Cartagena, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5784-9510","authenticated-orcid":false,"given":"Andr\u00e9s","family":"Cabrera-Lozoya","sequence":"additional","affiliation":[{"name":"Department of Applied Physics and Naval Technology, Polytechnic University of Cartagena, Campus Muralla del Mar, 30203 Cartagena, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,11,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Reynolds, J.R., Thompson, B.C., and Skotheim, T.A. 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