ArticleNature communications2024
Sensing expectation enables simultaneous proprioception and contact detection in an intelligent soft continuum robot.
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 12 papers.
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Who cites it
12 citing papers in PubMed.
- Arthropod-Inspired Miniature Modular Vibration Direct-Drive Robot With Untethered Locomotion.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Single-fiber three-dimensional shape sensing via femtosecond laser inscribed orthogonal eccentric scatterers.Light, science & applications · 2026Article
- Cooperative integrated surgical robots for high-performance targeted therapies.Innovation (Cambridge (Mass.)) · 2026Review
- Convergence of Soft Electronics and Artificial Intelligence: From Materials to Intelligent Systems.Nano-micro letters · 2026Review
- Deep learning-enabled versatile shape perception for soft robots via single-ended multimode fiber.Science advances · 2026Article
- The Elephant Trunk Skin Inspires a Highly Sensitive and Deformable, Yet Robust, Armor Skin.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- MELEGROS: Monolithic Elephant-Inspired Gripper with Optical Sensors.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Curvy Surface Reconstruction.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Review
- Multi-modal sensing in colonoscopy: a data-driven approach.IEEE robotics and automation letters · 2026Article
- Stretchable, Multiplexed, and Bimodal Sensing Electronic Armor for Colonoscopic Continuum Robot Enhanced by Triboelectric Artificial Synapse.Advanced materials (Deerfield Beach, Fla.) · 2025Article
- Bioinspired Intelligent Soft Robotics: From Multidisciplinary Integration to Next-Generation Intelligence.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Review
- Micro-Gas Flow Sensor Utilizing Surface Network Density Regulation for Humidity-Modulated Ion Transport.Gels (Basel, Switzerland) · 2025Article
Corrections and comments
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Authors and funding
8 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
A high-level perceptual model found in the human brain is essential to guide robotic control when facing perception-intensive interactive tasks. Soft robots with inherent softness may benefit from such mechanisms when interacting with their surroundings. Here, we propose an expected-actual perception-action loop and demonstrate the model on a sensorized soft continuum robot. By sensing and matching expected and actual shape (1.4% estimation error on average), at each perception loop, our robot system rapidly (detection within 0.4 s) and robustly detects contact and distinguishes deformation sources, whether external and internal actions are applied separately or simultaneously. We also show that our soft arm can accurately perceive contact direction in both static and dynamic configurations (error below 10°), even in interactive environments without vision. The potential of our method are demonstrated in two experimental scenarios: learning to autonomously navigate by touching the walls, and teaching and repeating desired configurations of position and force through interaction with human operators.
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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.