Development of a self-healing soft pneumatic actuator: a first concept
Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure safe interaction in unstructured, unknown environments. Due to their intrinsic softness, these actuators have the ability to resist large mechan...
Saved in:
Published in | Bioinspiration & biomimetics Vol. 10; no. 4; p. 046007 |
---|---|
Main Authors | , , , , , |
Format | Journal Article |
Language | English |
Published |
England
IOP Publishing
07.07.2015
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
Abstract | Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure safe interaction in unstructured, unknown environments. Due to their intrinsic softness, these actuators have the ability to resist large mechanical impacts. However, the soft materials used in these structures are in general susceptible to damage caused by sharp objects found in the unstructured environments. This paper proposes to integrate a self-healing (SH-) mechanism in SPAs, such that cuts, tears and perforations in the actuator can be self-healed. Diels-Alder (DA-) polymers, covalent polymer network systems based on the thermoreversible DA-reaction, were selected and their mechanical, as well as SH-properties, are described. To evaluate the feasibility of developing an SPA constructed out of SH-material, a single cell prototype, a SH-soft pneumatic cell (SH-SPC), was constructed entirely out of DA-polymers. Exploiting the SH-property of the DA-polymers, a completely new shaping process is presented in this paper, referred to as 'shaping through folding and self-healing'. 3D polygon structures, like the cubic SH-SPC, can be constructed by folding SH-polymer sheet. The sides of the structures can be sealed and made airtight using a SH-procedure at relatively low temperatures (<90 °C). Both the (thermo) mechanical and SH-properties of the SH-SPC prototype were experimentally validated and showed excellent performances. Macroscopic incisions in the prototype were completely healed using a SH-procedure (<70 °C). Starting from this single-cell prototype, it is straight-forward to develop a multi-cell prototype, the first SPA ever built completely out of SH-polymers. |
---|---|
AbstractList | Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure safe interaction in unstructured, unknown environments. Due to their intrinsic softness, these actuators have the ability to resist large mechanical impacts. However, the soft materials used in these structures are in general susceptible to damage caused by sharp objects found in the unstructured environments. This paper proposes to integrate a self-healing (SH-) mechanism in SPAs, such that cuts, tears and perforations in the actuator can be self-healed. Diels-Alder (DA-) polymers, covalent polymer network systems based on the thermoreversible DA-reaction, were selected and their mechanical, as well as SH-properties, are described. To evaluate the feasibility of developing an SPA constructed out of SH-material, a single cell prototype, a SH-soft pneumatic cell (SH-SPC), was constructed entirely out of DA-polymers. Exploiting the SH-property of the DA-polymers, a completely new shaping process is presented in this paper, referred to as 'shaping through folding and self-healing'. 3D polygon structures, like the cubic SH-SPC, can be constructed by folding SH-polymer sheet. The sides of the structures can be sealed and made airtight using a SH-procedure at relatively low temperatures (<90 °C). Both the (thermo) mechanical and SH-properties of the SH-SPC prototype were experimentally validated and showed excellent performances. Macroscopic incisions in the prototype were completely healed using a SH-procedure (<70 °C). Starting from this single-cell prototype, it is straight-forward to develop a multi-cell prototype, the first SPA ever built completely out of SH-polymers. Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure safe interaction in unstructured, unknown environments. Due to their intrinsic softness, these actuators have the ability to resist large mechanical impacts. However, the soft materials used in these structures are in general susceptible to damage caused by sharp objects found in the unstructured environments. This paper proposes to integrate a self-healing (SH-) mechanism in SPAs, such that cuts, tears and perforations in the actuator can be self-healed. Diels-Alder (DA-) polymers, covalent polymer network systems based on the thermoreversible DA-reaction, were selected and their mechanical, as well as SH-properties, are described. To evaluate the feasibility of developing an SPA constructed out of SH-material, a single cell prototype, a SH-soft pneumatic cell (SH-SPC), was constructed entirely out of DA-polymers. Exploiting the SH-property of the DA-polymers, a completely new shaping process is presented in this paper, referred to as 'shaping through folding and self-healing'. 3D polygon structures, like the cubic SH-SPC, can be constructed by folding SH-polymer sheet. The sides of the structures can be sealed and made airtight using a SH-procedure at relatively low temperatures (<90 [degrees]C). Both the (thermo) mechanical and SH-properties of the SH-SPC prototype were experimentally validated and showed excellent performances. Macroscopic incisions in the prototype were completely healed using a SH-procedure (<70 [degrees]C). Starting from this single-cell prototype, it is straight-forward to develop a multi-cell prototype, the first SPA ever built completely out of SH-polymers. Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure safe interaction in unstructured, unknown environments. Due to their intrinsic softness, these actuators have the ability to resist large mechanical impacts. However, the soft materials used in these structures are in general susceptible to damage caused by sharp objects found in the unstructured environments. This paper proposes to integrate a self-healing (SH-) mechanism in SPAs, such that cuts, tears and perforations in the actuator can be self-healed. Diels-Alder (DA-) polymers, covalent polymer network systems based on the thermoreversible DA-reaction, were selected and their mechanical, as well as SH-properties, are described. To evaluate the feasibility of developing an SPA constructed out of SH-material, a single cell prototype, a SH-soft pneumatic cell (SH-SPC), was constructed entirely out of DA-polymers. Exploiting the SH-property of the DA-polymers, a completely new shaping process is presented in this paper, referred to as 'shaping through folding and self-healing'. 3D polygon structures, like the cubic SH-SPC, can be constructed by folding SH-polymer sheet. The sides of the structures can be sealed and made airtight using a SH-procedure at relatively low temperatures (<90 °C). Both the (thermo) mechanical and SH-properties of the SH-SPC prototype were experimentally validated and showed excellent performances. Macroscopic incisions in the prototype were completely healed using a SH-procedure (<70 °C). Starting from this single-cell prototype, it is straight-forward to develop a multi-cell prototype, the first SPA ever built completely out of SH-polymers. |
Author | Brancart, Joost Assche, Guy Van Mathijssen, Glenn Terryn, Seppe Lefeber, Dirk Vanderborght, Bram |
Author_xml | – sequence: 1 givenname: Seppe surname: Terryn fullname: Terryn, Seppe email: seterryn@vub.ac.be organization: Vrije Universiteit Brussel (VUB) Robotics and Multibody Mechanics (R&MM), Pleinlaan 2, B-1050 Brussels, Belgium – sequence: 2 givenname: Glenn surname: Mathijssen fullname: Mathijssen, Glenn organization: Vrije Universiteit Brussel (VUB) Robotics and Multibody Mechanics (R&MM), Pleinlaan 2, B-1050 Brussels, Belgium – sequence: 3 givenname: Joost surname: Brancart fullname: Brancart, Joost organization: Vrije Universiteit Brussel (VUB) Physical Chemistry and Polymer Science (FYSC), Pleinlaan 2, B-1050 Brussels, Belgium – sequence: 4 givenname: Dirk surname: Lefeber fullname: Lefeber, Dirk organization: Vrije Universiteit Brussel (VUB) Robotics and Multibody Mechanics (R&MM), Pleinlaan 2, B-1050 Brussels, Belgium – sequence: 5 givenname: Guy Van surname: Assche fullname: Assche, Guy Van organization: Vrije Universiteit Brussel (VUB) Physical Chemistry and Polymer Science (FYSC), Pleinlaan 2, B-1050 Brussels, Belgium – sequence: 6 givenname: Bram surname: Vanderborght fullname: Vanderborght, Bram organization: Vrije Universiteit Brussel (VUB) Robotics and Multibody Mechanics (R&MM), Pleinlaan 2, B-1050 Brussels, Belgium |
BackLink | https://www.ncbi.nlm.nih.gov/pubmed/26151944$$D View this record in MEDLINE/PubMed |
BookMark | eNqFkE1LxDAQhoOsuB_6E5SexEvdJE26qTdZXRUWvOg5JOlEu7RNbVLBf2_LrsseRE8zDM_7DjxTNKpdDQidE3xNsBBzsmAiTkiG5wTP2RyzFOPFEZrs76ODfYym3m8w5iwT9ASNaUo4yRiboNUdfELpmgrqEDkbqchDaeN3UGVRv0Xe2RA1NXSVCoWJlAmdCq696TlbtD5ExtUGmnCKjq0qPZzt5gy9ru5flo_x-vnhaXm7jg2nIsTa6jxLaSKsEJTTlC0SSkCl3OapycEwygnBoEROgEFGQSVCZ1oIzbDOWJ7M0NW2t2ndRwc-yKrwBspS1eA6L4nAmPG07_4fTTPeCyJC9CjfoqZ13rdgZdMWlWq_JMFysC0Hk3IwOVyY3Nrucxe7F52uIN-nfvT2wOUWKFwjN65r616O1PqwRTa57UHyC_j3929h2ZZh |
CODEN | BBIICI |
CitedBy_id | crossref_primary_10_3390_polym12071534 crossref_primary_10_1109_LRA_2023_3266668 crossref_primary_10_1021_acsami_5b06440 crossref_primary_10_1109_LRA_2017_2724140 crossref_primary_10_1109_TRO_2016_2558201 crossref_primary_10_1002_adma_202002800 crossref_primary_10_1088_0964_1726_25_8_084010 crossref_primary_10_1002_aisy_202000248 crossref_primary_10_1088_2399_7532_ac4c95 crossref_primary_10_1021_acs_macromol_2c00434 crossref_primary_10_1126_scirobotics_aan4268 crossref_primary_10_1016_j_molliq_2022_118712 crossref_primary_10_1557_mrc_2018_30 crossref_primary_10_3389_frobt_2017_00048 crossref_primary_10_1002_adma_201604977 crossref_primary_10_1016_j_sna_2021_113088 crossref_primary_10_1039_D3CS01017A crossref_primary_10_1039_D0MH00535E crossref_primary_10_1002_marc_201700376 crossref_primary_10_1177_0892705719847247 crossref_primary_10_20965_jrm_2022_p0234 crossref_primary_10_1109_MRA_2020_3024275 crossref_primary_10_3389_frobt_2020_00114 crossref_primary_10_1016_j_mtcomm_2016_08_004 crossref_primary_10_1016_j_polymer_2024_126693 crossref_primary_10_1002_app_44972 crossref_primary_10_1126_scirobotics_aah3690 crossref_primary_10_1109_LRA_2023_3236883 crossref_primary_10_3389_frobt_2018_00084 crossref_primary_10_1016_j_polymer_2018_08_026 crossref_primary_10_1016_j_matdes_2023_111783 crossref_primary_10_1039_C8PY01216D crossref_primary_10_1002_adma_202008052 crossref_primary_10_3390_technologies10020045 |
Cites_doi | 10.1007/s12369-009-0042-2 10.1109/MRA.2008.927979 10.1002/adfm.201102978 10.1177/0278364902021010837 10.1155/2008/520417 10.1080/01691864.2012.689722 10.1109/IROS.2012.6385433 10.1007/s10514-009-9171-6 10.1038/srep03138 10.1109/MRA.2007.339623 10.1063/1.4869294 10.1557/mrs2008.162 10.1007/s10973-011-1381-4 10.1016/j.reactfunctpolym.2012.06.017 10.1126/science.1145803 10.1002/adfm.201303676 10.1016/j.progpolymsci.2008.02.001 10.1109/ICRA.2011.5980371 10.1163/016918611X558225 10.1177/1045389X11422106 10.1073/pnas.1116564108 10.1002/pi.2841 10.1002/adma.201303175 10.1163/156855308X324749 10.1039/b711716g 10.1021/ma0210675 10.1038/35057232 10.1109/TMECH.2012.2210239 10.1002/adma.201003036 10.1016/j.robot.2013.06.009 10.1016/j.tibtech.2013.03.002 10.1145/2366316.2366335 |
ContentType | Journal Article |
Copyright | 2015 IOP Publishing Ltd |
Copyright_xml | – notice: 2015 IOP Publishing Ltd |
DBID | CGR CUY CVF ECM EIF NPM AAYXX CITATION 7X8 7TB 8FD F28 FR3 |
DOI | 10.1088/1748-3190/10/4/046007 |
DatabaseName | Medline MEDLINE MEDLINE (Ovid) MEDLINE MEDLINE PubMed CrossRef MEDLINE - Academic Mechanical & Transportation Engineering Abstracts Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database |
DatabaseTitle | MEDLINE Medline Complete MEDLINE with Full Text PubMed MEDLINE (Ovid) CrossRef MEDLINE - Academic Engineering Research Database Technology Research Database Mechanical & Transportation Engineering Abstracts ANTE: Abstracts in New Technology & Engineering |
DatabaseTitleList | MEDLINE Engineering Research Database MEDLINE - Academic |
Database_xml | – sequence: 1 dbid: NPM name: PubMed url: https://proxy.k.utb.cz/login?url=http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed sourceTypes: Index Database – sequence: 2 dbid: EIF name: MEDLINE url: https://proxy.k.utb.cz/login?url=https://www.webofscience.com/wos/medline/basic-search sourceTypes: Index Database |
DeliveryMethod | fulltext_linktorsrc |
Discipline | Anatomy & Physiology |
DocumentTitleAlternate | Development of a self-healing soft pneumatic actuator: a first concept |
EISSN | 1748-3190 |
EndPage | 046007 |
ExternalDocumentID | 10_1088_1748_3190_10_4_046007 26151944 bb514544 |
Genre | Research Support, Non-U.S. Gov't Journal Article |
GrantInformation_xml | – fundername: PhD grant for basic strategic research of the 'Agentschap voor Innovatie door Wetenschap en Technologie (IWT)' of Flanders – fundername: PhD Fellowship of the Research Foundation-Flanders (FWO) – fundername: European Commission ERC Starting grant SPEAR grantid: 337596 |
GroupedDBID | --- 1JI 4.4 53G 5B3 5VS 5ZH 7.M 7.Q AAGCD AAJIO AAJKP AALHV AATNI ABHWH ABJNI ABQJV ABVAM ACAFW ACGFS ACHIP AEFHF AENEX AFYNE AKPSB ALMA_UNASSIGNED_HOLDINGS AOAED ASPBG ATQHT AVWKF AZFZN CEBXE CJUJL CRLBU CS3 DU5 EBS EDWGO EJD EMSAF EPQRW EQZZN F5P HAK IJHAN IOP IZVLO KOT LAP M45 N5L N9A NT- NT. P2P PJBAE RIN RO9 ROL RPA SY9 TN5 UCJ W28 CGR CUY CVF ECM EIF NPM AAYXX CITATION 7X8 7TB 8FD F28 FR3 |
ID | FETCH-LOGICAL-c528t-bfbd96238f88252647321ea65fd6cdec425110ea8d1e4e92ea38b9b88b40b94d3 |
IEDL.DBID | IOP |
ISSN | 1748-3190 1748-3182 |
IngestDate | Fri Jun 28 06:34:10 EDT 2024 Fri Jun 28 05:45:31 EDT 2024 Fri Aug 23 00:51:29 EDT 2024 Sat Sep 28 08:07:21 EDT 2024 Wed Aug 21 03:33:27 EDT 2024 Thu Jan 07 13:53:45 EST 2021 |
IsDoiOpenAccess | false |
IsOpenAccess | true |
IsPeerReviewed | true |
IsScholarly | true |
Issue | 4 |
Language | English |
LinkModel | DirectLink |
MergedId | FETCHMERGED-LOGICAL-c528t-bfbd96238f88252647321ea65fd6cdec425110ea8d1e4e92ea38b9b88b40b94d3 |
Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 |
OpenAccessLink | https://biblio.vub.ac.be/vubirfiles/26793163/201503_terryn2015.pdf |
PMID | 26151944 |
PQID | 1695174188 |
PQPubID | 23479 |
PageCount | 17 |
ParticipantIDs | crossref_primary_10_1088_1748_3190_10_4_046007 proquest_miscellaneous_1695174188 pubmed_primary_26151944 proquest_miscellaneous_1800456252 iop_journals_10_1088_1748_3190_10_4_046007 |
PublicationCentury | 2000 |
PublicationDate | 2015-Jul-07 |
PublicationDateYYYYMMDD | 2015-07-07 |
PublicationDate_xml | – month: 07 year: 2015 text: 2015-Jul-07 day: 07 |
PublicationDecade | 2010 |
PublicationPlace | England |
PublicationPlace_xml | – name: England |
PublicationTitle | Bioinspiration & biomimetics |
PublicationTitleAbbrev | BB |
PublicationTitleAlternate | Bioinspir. Biomim |
PublicationYear | 2015 |
Publisher | IOP Publishing |
Publisher_xml | – name: IOP Publishing |
References | 22 44 23 24 25 26 van den Brand R (18) 2013 Arunalatha G (32) 2010 Gordon K L (29) 2011 Ghosh S K (27) 2009 Terryn S (41) 2015 Salisbury K (1) 1991 30 31 10 11 33 12 34 13 35 14 36 15 37 17 39 19 Pfeifer R (6) 2007 Tsagarakis N (16) 1999 2 3 4 5 Terryn S (42) 2015 7 8 Sun Y (20) 2013 van der Zwaag S (28) 2008 9 40 21 Polygerinos P (38) 2013 43 |
References_xml | – ident: 17 doi: 10.1007/s12369-009-0042-2 – start-page: 452 year: 2011 ident: 29 publication-title: Conf. of NASA: American Chemical Society National Meeting and Exposition vol 242 contributor: fullname: Gordon K L – ident: 4 doi: 10.1109/MRA.2008.927979 – ident: 37 doi: 10.1002/adfm.201102978 – start-page: 1512 year: 2013 ident: 38 publication-title: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) contributor: fullname: Polygerinos P – ident: 35 doi: 10.1177/0278364902021010837 – start-page: 233 year: 1991 ident: 1 publication-title: 5th Int. Symp. on Robotics Research contributor: fullname: Salisbury K – ident: 3 doi: 10.1155/2008/520417 – ident: 11 doi: 10.1080/01691864.2012.689722 – ident: 10 doi: 10.1109/IROS.2012.6385433 – ident: 14 doi: 10.1007/s10514-009-9171-6 – ident: 34 doi: 10.1038/srep03138 – year: 2007 ident: 6 publication-title: How the Body Shapes the Way we Think: A New View of Intelligence contributor: fullname: Pfeifer R – ident: 33 doi: 10.1109/MRA.2007.339623 – ident: 30 doi: 10.1063/1.4869294 – ident: 23 doi: 10.1557/mrs2008.162 – ident: 43 doi: 10.1007/s10973-011-1381-4 – ident: 40 doi: 10.1016/j.reactfunctpolym.2012.06.017 – ident: 7 doi: 10.1126/science.1145803 – ident: 21 doi: 10.1002/adfm.201303676 – ident: 24 doi: 10.1016/j.progpolymsci.2008.02.001 – ident: 8 doi: 10.1109/ICRA.2011.5980371 – ident: 15 doi: 10.1163/016918611X558225 – start-page: 4446 year: 2013 ident: 20 publication-title: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) contributor: fullname: Sun Y – ident: 12 doi: 10.1177/1045389X11422106 – ident: 19 doi: 10.1073/pnas.1116564108 – ident: 39 doi: 10.1002/pi.2841 – ident: 31 doi: 10.1002/adma.201303175 – ident: 13 doi: 10.1163/156855308X324749 – start-page: 258 year: 2015 ident: 42 publication-title: IEEE Int. Conf. on Robotics and Automation (ICRA) contributor: fullname: Terryn S – ident: 25 doi: 10.1039/b711716g – ident: 44 doi: 10.1021/ma0210675 – start-page: 971 year: 2013 ident: 18 publication-title: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) contributor: fullname: van den Brand R – start-page: 283 year: 2010 ident: 32 publication-title: Proc. Int. Conf. on Emerging Trends in Robotics and Communication Technologies (INTERACT), IEEE contributor: fullname: Arunalatha G – ident: 22 doi: 10.1038/35057232 – year: 2008 ident: 28 publication-title: Springer Science+Business Media BV contributor: fullname: van der Zwaag S – year: 2015 ident: 41 publication-title: IEEE Transactions on Robotics (T-RO) contributor: fullname: Terryn S – ident: 36 doi: 10.1109/TMECH.2012.2210239 – ident: 26 doi: 10.1002/adma.201003036 – ident: 9 doi: 10.1016/j.robot.2013.06.009 – year: 2009 ident: 27 publication-title: Self-Healing Materials: Fundamentals, Design Strategies, and Applications contributor: fullname: Ghosh S K – ident: 5 doi: 10.1016/j.tibtech.2013.03.002 – ident: 2 doi: 10.1145/2366316.2366335 – start-page: 327 year: 1999 ident: 16 publication-title: Proc. IEEE Int. Workshop on Robot and Human Interaction (RO-MAN) vol 8 contributor: fullname: Tsagarakis N |
SSID | ssj0054982 |
Score | 2.2854605 |
Snippet | Inspired by the intrinsic softness and the corresponding embodied intelligence principles, soft pneumatic actuators (SPA) have been developed, which ensure... |
SourceID | proquest crossref pubmed iop |
SourceType | Aggregation Database Index Database Enrichment Source Publisher |
StartPage | 046007 |
SubjectTerms | Actuators Animals Biomimetic Materials - chemistry Biomimetics - instrumentation Biomimetics - methods compliant actuator Construction Diels-Alder polymer Equipment Design Equipment Failure Analysis Folding Humans Materials Testing Muscle, Skeletal Pilot Projects Pneumatics Polymers Polymers - chemistry Pressure Prototypes robotics Robotics - instrumentation Robotics - methods self-healing material soft pneumatic actuator Softness Three dimensional Wound Healing |
Title | Development of a self-healing soft pneumatic actuator: a first concept |
URI | https://iopscience.iop.org/article/10.1088/1748-3190/10/4/046007 https://www.ncbi.nlm.nih.gov/pubmed/26151944 https://search.proquest.com/docview/1695174188 https://search.proquest.com/docview/1800456252 |
Volume | 10 |
hasFullText | 1 |
inHoldings | 1 |
isFullTextHit | |
isPrint | |
link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV3JTsMwELWgXLiwlaWsRkIckNI2iZOMuVWIqiCxHKjUW2THtlQBaUXTA3w94yyoRSoIcYucSWKPl3ljv5kQcha2lYy4cB205eAwhKwOMG35T0IFCQ8hMjZQ-O4-7PXZ7SAYzETxD0fjculv4mWRKLhQYUmIgxZiaLulx9tY0mIte7Jnw8lXfABuSV03D4_VWozOD3hV3M6iR-cs0jJ-dTHYzI1Od52IqroF1-S5Oc1kM_n4lsnxP-3ZIGslIqWdQn6TLOl0i9Q7KXrjr-_0nOYc0XzzvU66MxwjOjJU0Il-MY5Fm2gC6QTXdDpO9TTPA0uFDU5Bn_4S5cwQYSZNiiDJbdLvXj9d9ZzyTwxOEniQOdJIxREogUFAHiCGinzP1SIMjAoTpRNmHZW2FqBczTT3tPBBcgkgWVtypvwdUktHqd4j1E8iBPQsUVEEzGiXBzJEGMgZmlDggd8gzao34nGRcCPOD8oBYqup2GrKlrC40FSDXKBm43LqTX4TPpkTlnL2bjxWpkFOq86PcabZ4xOR6tEUXxxym9bbBfhBBkqf0muQ3WLkfLXCs-CRM7b_lwofkFWEaEFOEI4OSS17m-ojhEGZPM5H-ieO2ffu |
link.rule.ids | 315,786,790,27955,27956,38898,53875 |
linkProvider | IOP Publishing |
linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LT9wwEB7xkCouPAssha4rVRwqZTcPJx73hqCrBcrjUCRuVhzbUlXIrtjdA_x6xnkgQKJVxS1yxok9sT3f2N9MAL5modFC5lFAthwDTpA1QG49_yk3aSEzFM4HCp-dZ8MrfnKdXs_B0VMszGjcLP09uqwTBdcqbAhx2CcM7bf0ZEglfd73J3uh6I-Nm4dFmr7CE_uOLy7b9ZgcIIzb2J23qr-wSvP05rcBZ2V4Bitg2ybXfJM_vdlU94qHV9kc39unVVhukCk7qOuswZwt12HjoCSv_Pae7bOKK1ptwm_A4BnXiI0cy9nE3rjAo04yhWxCazsbl3ZW5YNluQ9SId_-O8m53wQ3WVEHS36Eq8GPX4fDoPkjQ1CkMU4D7bSRBJjQETBPCUuJJI5snqXOZIWxBfcOS2hzNJHlVsY2T1BLjah5qCU3ySYslKPSbgNLCkHAnhdGCOTORjLVGcFBycmUokyTDvTaL6LGdeINVR2YIyqvLeW15Uu4qrXVgW-kXdVMwcm_hLsvhLV-fleR4jvwpR0AimacP0bJSzua0YMz6dN7R4h_kcHGt4w7sFWPnqdexB5ESs53_qfBXfhweTRQP4_PTz_BEqG2tOIMi11YmN7N7B4ho6n-XA38R4NT_U4 |
openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Development+of+a+self-healing+soft+pneumatic+actuator%3A+a+first+concept&rft.jtitle=Bioinspiration+%26+biomimetics&rft.au=Terryn%2C+Seppe&rft.au=Mathijssen%2C+Glenn&rft.au=Brancart%2C+Joost&rft.au=Lefeber%2C+Dirk&rft.date=2015-07-07&rft.eissn=1748-3190&rft.volume=10&rft.issue=4&rft.spage=046007&rft_id=info:doi/10.1088%2F1748-3190%2F10%2F4%2F046007&rft_id=info%3Apmid%2F26151944&rft.externalDocID=26151944 |
thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1748-3190&client=summon |
thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1748-3190&client=summon |
thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1748-3190&client=summon |