ArticleMicromachines2021
Structural Reinforcement Effect of a Flexible Strain Sensor Integrated with Pneumatic Balloon Actuators for Soft Microrobot Fingers.
Article in Micromachines, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
8 citing papers in PubMed, 18 citations in OpenAlex.
- Soft microfingers with flexible tactile sensor using liquid metal for in situ evaluation of cellular spheroid stiffness.Scientific reports · 2026Article
- Microfinger robot with inhaling channels for active sampling and analyzing gaseous and liquid substances toward source localization.Scientific reports · 2026Article
- Depth-estimation of stiffness singularity in an elastic object via directional touch sensing using microfinger with tactile sensor.Scientific reports · 2025Article
- Article
- Directional touch sensing for stiffness singularity search in an object using microfinger with tactile sensor.Scientific reports · 2022Article
- Active tactile sensing of small insect force by a soft microfinger toward microfinger-insect interactions.Scientific reports · 2022Article
- Liquid metal droplet shuttling in a microchannel toward a single line multiplexer with multiple sensors.Scientific reports · 2022Article
- Space Electroosmotic Thrusters in Ion Partitioning Soft Nanochannels.Micromachines · 2021Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors at 1 institution in 1 country.
Funding
Abstract
Motion capture of a robot and tactile sensing for a robot require sensors. Strain sensors are used to detect bending deformation of the robot finger and to sense the force from an object. It is important to introduce sensors in effective combination with actuators without affecting the original performance of the robot. We are interested in the improvement of flexible strain sensors integrated into soft microrobot fingers using a pneumatic balloon actuator (PBA). A strain sensor using a microchannel filled with liquid metal was developed for soft PBAs by considering the compatibility of sensors and actuators. Inflatable deformation generated by PBAs, however, was found to affect sensor characteristics. This paper presents structural reinforcement of a liquid metal-based sensor to solve this problem. Parylene C film was deposited into a microchannel to reinforce its structure against the inflatable deformation caused by a PBA. Parylene C deposition into a microchannel suppressed the interference of inflatable deformation. The proposed method enables the effective combination of soft PBAs and a flexible liquid metal strain sensor for use in microrobot fingers.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.