Evidence map›Paper›PMID 35592681›Full record

ArticleFrontiers in robotics and AI2022

Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster.

Callie Branyan, Ahmad Rafsanjani, Katia Bertoldi, Ross L Hatton, Yiğit Mengüç

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Frontiers in robotics and AI, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.

0numbers the graph read from it
0cells of the map it votes in
3citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

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.

2 · The registry

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.

3 · Its place in the literature

Who cites it

3 citing papers in PubMed.

  1. Article
  2. FromMaterials today. Bio · 2025
    Review
  3. Multimodal Limbless Crawling Soft Robot with a Kirigami Skin.Cyborg and bionic systems (Washington, D.C.) · 2025
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors.

Callie BranyanCollaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United States.
Ahmad RafsanjaniCenter for Soft Robotics, SDU Biorobotics, University of Southern Denmark, Odense, Denmark.
Katia BertoldiJohn A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United States.
Ross L HattonCollaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United States.
Yiğit MengüçCollaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United States.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

The locomotion of soft snake robots is dependent on frictional interactions with the environment. Frictional anisotropy is a morphological characteristic of snakeskin that allows snakes to engage selectively with surfaces and generate propulsive forces. The prototypical slithering gait of most snakes is lateral undulation, which requires a significant lateral resistance that is lacking in artificial skins of existing soft snake robots. We designed a set of kirigami lattices with curvilinearly-arranged cuts to take advantage of in-plane rotations of the 3D structures when wrapped around a soft bending actuator. By changing the initial orientation of the scales, the kirigami skin produces high lateral friction upon engagement with surface asperities, with lateral to cranial anisotropic friction ratios above 4. The proposed design increased the overall velocity of the soft snake robot more than fivefold compared to robots without skin.

Indexed as

bioinspirationbioroboticskirigamilocomotionmechanical designmechanical metamaterialssoft robotics

Identifiers

PMID35592681
PMCPMC9110809

What OpenQuestion holds

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Registered trials

None linked

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.