ArticleNature communications2024
A fabrication strategy for millimeter-scale, self-sensing soft-rigid hybrid robots.
Article in Nature communications, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
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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.
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Who cites it
6 citing papers in PubMed.
- Soft robotic devices for cardiovascular medicine.Nature reviews. Cardiology · 2026Review
- Single-fiber three-dimensional shape sensing via femtosecond laser inscribed orthogonal eccentric scatterers.Light, science & applications · 2026Article
- Ionic Wind Cooling Enables High-Frequency Shape Memory Alloy Actuators for Origami-Inspired Soft Robotics.Small (Weinheim an der Bergstrasse, Germany) · 2026Article
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- An 18-DOF hand integrating force-position multimodal perception using a monocular camera.Nature communications · 2025Article
- Understanding silicone elastomer curing and adhesion for stronger soft devices.Science advances · 2025Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
8 authors.
Funding
Abstract
Soft robots typically involve manual assembly of core hardware components like actuators, sensors, and controllers. This increases fabrication time and reduces consistency, especially in small-scale soft robots. We present a scalable monolithic fabrication method for millimeter-scale soft-rigid hybrid robots, simplifying the integration of core hardware components. Actuation is provided by soft-foldable polytetrafluoroethylene film-based actuators powered by ionic fluid injection. The desired motion is encoded by integrating a mechanical controller, comprised of rigid-flexible materials. The robot's motion can be self-sensed using an ionic resistive sensor by detecting electrical resistance changes across its body. Our approach is demonstrated by fabricating three distinct soft-rigid hybrid robotic modules, each with unique degrees of freedom: translational, bending, and roto-translational motions. These modules connect to form a soft-rigid hybrid continuum robot with real-time shape-sensing capabilities. We showcase the robot's capabilities by performing object pick-and-place, needle steering and tissue puncturing, and optical fiber steering tasks.
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.