Announcements
- Call for Papers and Workshop ICRA 2025 in Atlanta (15./25.09.2024)
- Call for Papers and Workshops RoboSoft 2025 in Lausanne (15.10.2024/01.11.2024)
Featured Videos
- Human-Robot Facial Co-expression (IEEE Spectrum, Mar-24)
- Low-cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-rich Human-robot collaboration (IEEE Spectrum, Mar-24)
- Soft robotic device improves walking for individual with Parkinson’s disease (IEEE-Spectrum, Jan-24)
Featured Books
- Playful Wearables: Understanding the Design Space of Wearables for Games and Related Experiences (MIT Press, Jan-24)
Featured Articles
Views and Reviews
- Soft sensing and haptics for medical procedures (Nature, Jan-24)
- Clinical translation of wireless soft robotic medical devices (Nature, Mar-24)
- Experimenting With Soft Robotics in Education: A Systematic Literature Review From 2006 to 2022 (IEEE T-LT, Mar-24)
- Oceanic Challenges to Technological Solutions: A Review of Autonomous Underwater Vehicle Path Technologies in Biomimicry, Control, Navigation, and Sensing (IEEE Access, Mar-24)
- Manufacturing of 3D Printed Soft Grippers: A Review (IEEE Access, Feb-24)
- Pioneering healthcare with soft robotic devices: A review (Wiley, Feb-24)
- Integrated Sensors for Soft Medical Robotics (Wiley, Jan-24)
- Artificial Muscles for Underwater Soft Robots: Materials and Their Interactions (Annual Reviews, Mar-24)
New Materials, Actuators & Stiffening Methods
- Thermally accelerated curing of platinum-catalyzed elastomers (Cell Reports, Mar 24)
- SMA Wire Use in Hybrid Twisting and Bending/Extending Soft Fiber-Reinforced Actuators (MDPI, Mar 24)
- Variable Stiffness, Sensing, and Healing in FESTO’s FinRay Gripper: An Industry-Driven Design (IEEE RAM, Feb 24)
- Development and Testing of Novel Soft Sleeve Actuators (IEEE Access, Mar-24)
- Development of a Dual Function Joint Modular Soft Actuator and its Evaluation Using a Novel Dummy Finger Joint-Soft Actuator Complex Model (IEEE RA-L, Mar-24)
- A Two-Chamber Soft Actuator With An Expansion Limit Line for Force Enhancement (IEEE RA-L, Mar-24)
- Hyperboloidal Pneumatic Artificial Muscle With Braided Straight Fibers (IEEE RA-L, Mar-24)
- Towards Stiffness Tunable Programmable Matter (IEEE RA-L, Mar-24)
- Design and Testing of a Magnetic Soft Crawling Robot With Multimodal Locomotion Driven by 3-D Magnetic Fields (IEEE TIM, Feb-24)
- A Bioinspired Single Actuator-Driven Soft Robot Capable of Multistrategy Locomotion (IEEE T-RO, Feb-24)
- Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots (IEEE T-RO, Feb-24)
- Stiffness Control of Laminar Jammers With Fused Layers: A Discrete Approach (IEEE RA-L, Feb-24)
- Internal Pressure Pattern Design for Variable Surface Shapes of Tongue-Type Pneumatic Soft Actuator (IEEE RA-L, Feb-24)
- A Soft Finger With Tensile Variable Stiffness Based on the Cross-Sliding Jamming Mechanism (IEEE RA-L, Feb-24)
- Powerful Multidirectional Pneumatic Jumper With Lightweight Fabric Chambers and Buckling-Controllable Elastic Beams (IEEE RA-L, Feb-24)
- Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis (IEEE Access, Feb-24)
- Soft Robotic Glove Modulating Joint Torque Through Novel Passive Extensor Mechanisms (IEEE RA-L, Feb-24)
- Multimodal Soft Amphibious Robots Using Simple Plastic-Sheet-Reinforced Thin Pneumatic Actuators (IEEE T-RO, Feb-24)
- A Novel Hybrid Variable Stiffness Mechanism: Synergistic Integration of Layer Jamming and Shape Memory Polymer (IEEE RA-L, Jan-24)
- How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators? (IEEE RA-L, Jan-24)
- WAVES: Soft-Material Based Adaptable Walking-Type Stair-Climbing Robot for Various Step Sizes (IEEE Access, Jan-24)
- Design of Layer Jamming Liver Retractor for Surgical Access, Deployment, and Removal (IEEE T-MRB, Jan-24)
- A Soft Continuum Robot With Self-Controllable Variable Curvature (IEEE RA-L, Jan-24)
- SPIRO: A Compliant Spiral Spring Damper Joint Actuator With Energy-Based Sliding-Mode Controller (IEEE/ASME T-Mech, Jan-24)
- Magnetic soft microfiberbots for robotic embolization (Science, Jan-24)
- Encoded sewing soft textile robots (Science, Jan-24)
- Low-voltage electrohydraulic actuators for untethered robotics (Science, Jan-24)
- Wireless flow-powered miniature robot capable of traversing tubular structures (Science, Mar-24)
- Programmable adhesion and morphing of protein hydrogels for underwater robots (Nature, Jan-24)
- 3D nanofabricated soft microrobots with super-compliant picoforce springs as onboard sensors and actuators (Nature, Jan-24)
- A magnetic multi-layer soft robot for on-demand targeted adhesion (Nature, Jan-24)
- High-stretch, tendon-driven, fiber-reinforced membrane soft actuators with multiple active degrees of freedom (Nature, Feb-23)
- Highly stretchable graphene kirigami with tunable mechanical properties (Physical Review, Mar-24)
- 3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting (SoRo Journal, Feb-24)
- Soft Artificial Muscle Based on Pre-Detwinned Shape Memory Alloy Spring Actuator Achieving High Passive Assistive Torque for Wearable Robot (SoRo Journal, Feb-24)
- 4D Printed Self-Sustained Soft Crawling Machines Fueled by Constant Thermal Field (Wiley, Mar-24)
- Soft Robotic Textiles for Adaptive Personal Thermal Management (Wiley, Mar-24)
- Reconfigurable Transparent Variable-Stiffness Soft Robot for Underwater Operations (Wiley, Mar-24)
- A Soft, Centimeter-Scaled, Thin-Cable-Crawling Robot for Narrow Space Inspection (Wiley, Mar-24)
- Origami-Patterned Rigidification for Soft Robotic Bifurcation (Wiley, Mar-24)
- Origami-Inspired Reconfigurable Soft Actuators for Soft Robotic Applications (Wiley, Mar-24)
- A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles (Wiley, Mar-24)
- Resistive Self-Sensing Controllable Fabric-Based Actuator: A Novel Approach to Creating Anisotropy (Wiley, Mar-24)
- Edible Soft Actuators Based on Konjac Glucomannan for Underwater Operation (Wiley, Mar-24)
- Bioinspired Dynamic Matrix Based on Developable Structure of MXene-Cellulose Nanofibers (CNF) Soft Actuators (Wiley, Mar-24)
- UV Light-Mediated Hydrolytic Reaction to Develop Magnetic Hydrogel Actuators with Spatially Distributed Ferriferous Oxide Microparticles (Wiley, Mar-24)
- Single layered soft skin actuated with twisted and mandrel coiled actuators for soft robotics (Wiley, Feb-24)
- Soft Chemiresistive Sensing Shields Soft Robotic Actuators from Mechanical Degradation due to Critical Solvent Exposure (Wiley, Feb-24)
- A Graphene-Mica-Based Photo-Thermal Actuator for Small-Scale Soft Robots (Wiley, Feb-24)
- Reprogrammable Magnetic Soft Actuators with Microfluidic Functional Modules via Pixel-Assembly (Wiley, Jan-24)
- An Untethered Soft Crawling Robot Driven by Wireless Power Transfer Technology (Wiley, Jan-24)
Sensing, Flexible Electronic & Skins
- Ultra-Stretchable and Environmentally Resilient Hydrogels Via Sugaring-Out Strategy for Soft Robotics Sensing (Adv. Materials, Feb 24)
- Integrated force and displacement sensing in an untethered dielectric elastomer actuator with a piezoresistive element (Sensors and Actuators, Jan 24)
- Soft Robotic Finger Based on Double-Layer Liquid-Crystal Elastomer With Built-In Grid Structure Pressure Sensor (IEEE Sensors, Mar-24)
- Low-Cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-Rich Human Robot Collaboration (IEEE T-RO, Mar-24)
- Soft-Tipped Sensor With Compliance Control for Elasticity Sensing and Palpation (IEEE T-RO, Feb-24)
- Liquid Metal-Based Sensor With Nonuniform Strain Distribution for Wearable Applications (IEEE Sensors, Feb-24)
- Incipient Slip Detection by Vibration Injection Into Soft Sensor (IEEE RA-L, Feb-24)
- A Learning-Based Multisensor Fingertip Force Measurement Method With Fast Data Generation (IEEE TIM, Feb-24)
- ELTac: A Vision-Based Electroluminescent Tactile Sensing Skin for Force Localization and Magnitude Estimation (IEEE Sensors, Jan-24)
- A retrofit sensing strategy for soft fluidic robots (Nature, Jan-24)
- Computational design of ultra-robust strain sensors for soft robot perception and autonomy (Nature, Feb-24)
- Inherently integrated microfiber-based flexible proprioceptive sensor for feedback-controlled soft actuators (Nature, Mar-24)
- Haptic Localization with a Soft Whisker from Moment Readings at the Base (SoRo Journal, Jan-24)
Fabrication Techniques & Hardware Toolkits
- An Engineering Outreach Activity: How to Develop a Tendon-Based Soft Robotic Finger? (IEEE T-E, Feb 24)
- Fabrication Process for Twisting Artificial Muscles by Utilizing Braiding Technology and Water-Soluble Fibers (IEEE RA-L, Jan-24)
- Peristaltic Pump-Based Palm-Sized Multi-Mode Pressure Supply System for Soft Robots (IEEE RA-L, Jan-24)
- Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints (SoRo Journal, Mar-24)
- In-Situ Fabrication Process of Bacterial Cellulose compositesfor Soft Robots (Wiley, Feb-24)
Locomotion, Swimming & Flying
- Utilizing Bioinspired Soft Modular Appendages for Grasping and Locomotion in Multi-Legged Robots on Ground and Underwater (IEEE RA-L, Mar-24)
- Tumbling Locomotion of Tetrahedral Soft-Limbed Robots (IEEE RA-L, Mar-24)
- Stenus-inspired, swift, and agile untethered insect-scale soft propulsors (Nature, Feb-24)
- The Walking Control of a Crab Biorobot in Amphibious Environment (SoRo Journal, Mar-24)
- Multimodal Soft Robotic Actuation and Locomotion (Wiley, Feb-24)
- Sidewinder-Inspired Self-Adjusting, Lateral-Rolling Soft Robots for Autonomous Terrain Exploration (Wiley, Jan-24)
Manipulation & Grasping
- Design and Implementation of a Magnetic Coupling Based Segmented Bend Angle Sensor for a Soft Robotic Gripper (IEEE TIM, Mar-24)
- Paper-Based Bistable Origami Gripper to Make Quadcopters Multi-Functional (IEEE RA-L, Mar-24)
- Intersection-Free Robot Manipulation With Soft-Rigid Coupled Incremental Potential Contact (IEEE RA-L, Mar-24)
- A Soft Variable Stiffness Gripper with Magnetorheological Fluids for Robust and Reliable Grasping (IEEE RA-L, Mar-24)
- A Magnetic Helical Miniature Robot With Soft Magnetic-Controlled Gripper (IEEE RA-L, Feb-24)
- Vine-Like, Power Soft Gripper Based on Euler’s Belt Theory (IEEE RA-L, Feb-24)
- Customizable Power Grasps From Uncrewed Aerial Vehicles via a Soft Wrapping Gripper (IEEE/ASME T-Mech, Feb-24)
- Tactile-Based Grasping Stability Prediction Based on Human Grasp Demonstration for Robot Manipulation (IEEE RA-L, Jan-24)
- Impact of Physical Parameters and Vision Data on Deep Learning-Based Grip Force Estimation for Fluidic Origami Soft Grippers (IEEE RA-L, Jan-24)
- A Sensorized Soft Robotic Hand with Adhesive Fingertips for Multimode Grasping and Manipulation (SoRo Journal, Mar-24)
Biomimicry & Bioinspiration
- Inchworm-Inspired Soft Robot With Controllable Locomotion Based on Self-Sensing of Deformation (IEEE RA-L, Mar-24)
- A Seahorse-Inspired Continuum Robot With High Load Capacity (IEEE RA-L, Jan-24)
- A growing soft robot with climbing plant–inspired adaptive behaviors for navigation in unstructured environments (Science, Jan-24)
- Shear stiffening gel-enabled twisted string for bio-inspired robot actuators (Nature, Feb-27)
- Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle (SoRo Journal, Mar-24)
- 3D Printing Bio-Inspired Micro Soft Robot with Programming Magnetic Elastic Composites (Wiley, Mar-24)
- Soft Robots with Plant-Inspired Gravitropism Based on Fluidic Liquid Metal (Wiley, Mar-24)
- Elephant Trunk Inspired Multimodal Deformations and Movements of Soft Robotic Arms (Wiley, Feb-24)
Soft Robot Applications
- Magnetically Controlled Millipede Inspired Soft Robot for Releasing Drugs on Target Area in Stomach (IEEE RA-L, Mar-24)
- A Bio-Inspired Deformable Mouthpart Device With Adaptive Control for Negative Pressure Therapy on Unstructured Limb Surfaces (IEEE RA-L, Mar-24)
- Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention (IEEE T-RO, Mar-24)
- sEMG-Controlled Soft Exo-Glove for Assistive Rehabilitation Therapies (IEEE Access, Mar-24)
- Deep-Learning-Based Force Sensing Method for a Flexible Endovascular Surgery Robot (IEEE TIM, Mar-24)
- Development of a Soft Semi-Active Suit Using Electro-Static Clutches for Assisting Static Holding Tasks (IEEE RA-L, Jan-24)
- A Frequency-Modulated Tripedal Soft Magnetic Robot With Diverse Motion Modalities for Ingestible Applications (IEEE RA-L, Jan-24)
- Human Gait Entrainment to Soft Robotic Hip Perturbation During Simulated Overground Walking (IEEE T-NSRE, Jan-24)
- Multiple Hand Posture Rehabilitation System Using Vision-Based Intention Detection and Soft-Robotic Glove (IEEE T-II, Jan-24)
- Deriving Design Rules for Personalization of Soft Rehabilitation Gloves (IEEE Access, Jan-24)
- Ajisai: A Structure That Matches the Relationship Between Force and Color to Human Perception (IEEE RA-L, Mar-24)
- MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape (SoRo Journal, Mar-24)
- From Skin Movement to Wearable Robotics: The Case of Robotic Gloves (SoRo Journal, Jan-24)
- Mimicking Emotional Chinese Calligraphy Using a Variable Stiffness Flexible Gripper (Wiley, Mar-24)
- Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery (Wiley, Jan-24)
Theory: Learning, Modeling, & Control
- RL-Based Adaptive Controller for High Precision Reaching in a Soft Robot Arm (IEEE T-RO, Mar 24)
- Multistable States and Snap-Through Instabilities in an Interconnected Dielectric Elastomer Actuators System (Appl Mechanics, Jan 24)
- Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots (IEEE Access, Jan 24)
- A Variable Stiffness Anthropomorphic Finger Through Embodied Intelligence Design (IEEE RA-L, Feb 24)
- Modeling and Experimental Verification of a Continuous Curvature-Based Soft Growing Manipulator (IEEE RA-L, Mar-24)
- Design and Modeling of a Multi-DoF Magnetic Continuum Robot With Diverse Deformation Modes (IEEE RA-L, Mar-24)
- Obstacle-Aware Navigation of Soft Growing Robots via Deep Reinforcement Learning (IEEE Access, Mar-24)
- Modeling of a Six-Bar Tensegrity Robot Using the Port-Hamiltonian Framework and Experimental Validation (IEEE RA-L, Mar-24)
- Towards Contact-Aided Motion Planning for Tendon-Driven Continuum Robots (IEEE RA-L, Mar-24)
- Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics (IEEE T-RO, Feb-24)
- Two-Way FSI Simulation and Experiments for Finger-Like Soft Pneumatic Actuator Under High-Speed Pressurization (IEEE RA-L, Feb-24)
- Data-Driven Momentum Observers With Physically Consistent Gaussian Processes (IEEE T-RO, Feb-24)
- An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks (IEEE T-RO, Feb-24)
- DisMech: A Discrete Differential Geometry-Based Physical Simulator for Soft Robots and Structures (IEEE RA-L, Feb-24)
- A Tendon-Driven Continuum Manipulator With Robust Shape Estimation by Multiple IMUs (IEEE RA-L, Feb-24)
- Kinematics-Informed Neural Networks: Enhancing Generalization Performance of Soft Robot Model Identification (IEEE RA-L, Feb-24)
- Learning-Based MPC With Safety Filter for Constrained Deformable Linear Object Manipulation (IEEE RA-L, Feb-24)
- Unified Shape and External Load State Estimation for Continuum Robots (IEEE T-RO, Feb-24)
- Feedforward-Cascaded Adaptive Generalized Predictive Control of Dielectric Elastomer Transducer (IEEE RA-L, Jan-24)
- Dynamics and Control of Soft Robots With Implicit Strain Parametrization (IEEE RA-L, Jan-24)
- Multi-Interface Strain Transfer Modeling for Flexible Endoscope Shape Sensing (IEEE RA-L, Jan-24)
- Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots (IEEE Access, Jan-24)
- DaFoEs: Mixing Datasets Towards the Generalization of Vision-State Deep-Learning Force Estimation in Minimally Invasive Robotic Surgery (IEEE RA-L, Jan-24)
- Position and Orientation Control for Hyperelastic Multisegment Continuum Robots (IEEE/ASME T-Mech, Jan-24)
- Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction Through Robot Shape: Quasi-Static Modeling and Experimental Validation (IEEE T-RO, Jan-24)
- Design, Modeling, and Control of Soft Syringes Enabling Two Pumping Modes for Pneumatic Robot Applications (IEEE/ASME T-Mech, Jan-24)
- Foam-Embedded Soft Robotic Joint With Inverse Kinematic Modeling by Iterative Self-Improving Learning (IEEE RA-L, Jan-24)
- Safe Supervisory Control of Soft Robot Actuators (SoRo Journal, Feb-24)
- Fin-Bayes: A Multi-Objective Bayesian Optimization Framework for Soft Robotic Fingers (SoRo Journal, Mar-24)
- Learning-Based Control for Soft Robot–Environment Interaction with Force/Position Tracking Capability (SoRo Journal, Feb-24)
- Biomimetic Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves (SoRo Journal, Jan-24)
- Diversity-Based Topology Optimization of Soft Robotic Grippers (Wiley, Jan-24)
Embodied Intelligence & Morphological Computation
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Featured News Articles
- A world of soft robotics (Harvard, Feb-24)