ArticleProceedings of the National Academy of Sciences of the United States of America2024
Topology, dynamics, and control of a muscle-architected soft arm.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 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.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
10 citing papers in PubMed.
- Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- 3D Fiber-Reinforced Forward Musculoskeletal Modeling of the Lower Limb Using HD-sEMG and CFD-FE Coupling.Annals of biomedical engineering · 2026Article
- Hierarchical Artificial Muscle with Nonlinear Elasticity for Antagonistic and Cyclic Robotics.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Article
- Co-design of programmable material systems.NPJ metamaterials · 2026Review
- Biomimetic Artificial Muscles Inspired by Nature's Volume-Change Actuation Mechanisms.Biomimetics (Basel, Switzerland) · 2025Review
- Article
- Article
- Design, Modeling, and Experimental Validation of a Bio-Inspired Rigid-Flexible Continuum Robot Driven by Flexible Shaft Tension-Torsion Synergy.Biomimetics (Basel, Switzerland) · 2025Article
- Topology, dynamics, and control of a muscle-architected soft arm.Proceedings of the National Academy of Sciences of the United States of America · 2024Article
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
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the architecture into which muscle fibers are weaved. Their arrangement is, effectively, the instantiation of a sophisticated mechanical program that mediates, and likely facilitates, the control and realization of complex, dynamic morphological reconfigurations. Here, by combining medical imaging, biomechanical data, live behavioral experiments, and numerical simulations, an octopus-inspired arm made of [Formula: see text]200 continuous muscle groups is synthesized, exposing "mechanically intelligent" design and control principles broadly pertinent to dynamics and robotics. Such principles are mathematically understood in terms of storage, transport, and conversion of topological quantities, effected into complex 3D motions via simple muscle activation templates. These are in turn composed into higher-level control strategies that, compounded by the arm's compliance, are demonstrated across challenging manipulation tasks, revealing surprising simplicity and robustness.
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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.