Recent advances in multifunctional soft robots: A materials–structures–systems co-design perspective for synergistic integration

Abstract

Soft robots, engineered from highly compliant materials, offer superior adaptability and safety in unstructured environments compared to their rigid counterparts. Recent advancements, fueled by bio-inspiration and material programmability, have led to the rapid co-evolution of their core modules: actuation, sensing, protection, energy, and communication. A fundamental challenge lies in integrating these diverse functionalities into a cohesive system without compromising soft robotic performance. Here we show that a rational “materials-structures-systems” co-design strategy is pivotal for achieving this multifunctional integration. While existing reviews often compartmentalize advances by functional modules, this review synthesizes a unified framework demonstrating how such synergistic design enables tight coupling of functionalities, thereby overcoming the traditional trade-offs between compliance and capability. This approach significantly expands the operational autonomy and environmental resilience of soft robots. The resulting framework not only advances soft robotics but also provides a cross-disciplinary methodology for innovation in biomedical devices, environmental exploration, and human-robot interaction, marking a transition from laboratory prototypes to deployable systems for real-world challenges.