Soft Robotics最新文献

Multimodal Bionic Magnetic Miniature Amphibious Soft Robots 多模态仿生磁性微型两栖软机器人

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-09-11 DOI: 10.1177/21695172261487870

Fujun Wang,Chuhan Zhang,Hao Zhang,Dongfang Xu,Yanling Tian,Cunman Liang

{"title":"Multimodal Bionic Magnetic Miniature Amphibious Soft Robots","authors":"Fujun Wang,Chuhan Zhang,Hao Zhang,Dongfang Xu,Yanling Tian,Cunman Liang","doi":"10.1177/21695172261487870","DOIUrl":"https://doi.org/10.1177/21695172261487870","url":null,"abstract":"Miniature amphibious soft robots (MASRs) show great potential for operation in unstructured and complex environments, owing to their ability to move flexibly through narrow spaces with complex obstacles. However, existing MASRs still lack diverse movement modes and struggle with inefficient performance in both aquatic and terrestrial locomotion, limiting their ability to meet the demands of motion in complex amphibious environments. Here, we propose a joint-based magnetic MASR with four locomotion modes: crawling, rolling, jumping, and swimming, inspired by the structural features of four organisms (i.e., inchworms, woodlice, click beetles, and jellyfish), which features a polyhedron deployable structure with a flexible joint. The flexible joint converts the global bending deformation into concentrated large deformation, which can store more energy to drive the robot, so that it can improve the energy efficiency, enhancing the robot’s multimodal locomotion performance. After determining the dimensional parameters through multiobjective optimization, the robot achieves the following single-step displacements under a unit magnetic flux density: 0.038 BL (crawling), 0.153 BL (rolling), 0.22 BL (jumping), and 0.023 BL (swimming), respectively, demonstrating that it achieves more balanced and efficient locomotion performance than existing multimodal MASRs. Besides, with vision-based closed-loop control, the robot exhibits strong steering capability and can achieve precise tracking of complex trajectories. Furthermore, the proposed joint-based MASR is capable of multimodal locomotion on different surfaces and exhibits excellent mode-transition and obstacle-crossing capabilities in confined, complex amphibious environments as well as in an ex vivo porcine stomach, demonstrating its potential for operations in confined and unstructured environments.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"60 1","pages":""},"PeriodicalIF":7.9,"publicationDate":"2026-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148933174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic-Based Path Planning and Locomotion of Tensegrity Robots Considering Environmental Interaction. 考虑环境相互作用的张拉整体机器人动态路径规划与运动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-06-29 DOI: 10.1177/21695172261462705

Fan Jiang,Xiuting Sun,Xiao Wang,Guodong Xiao,Jian Xu

{"title":"Dynamic-Based Path Planning and Locomotion of Tensegrity Robots Considering Environmental Interaction.","authors":"Fan Jiang,Xiuting Sun,Xiao Wang,Guodong Xiao,Jian Xu","doi":"10.1177/21695172261462705","DOIUrl":"https://doi.org/10.1177/21695172261462705","url":null,"abstract":"This article presents a dynamics-based path-planning framework for tensegrity robots that accounts for environmental interaction. A systematic investigation is conducted into the mapping among locomotion gaits, actuations, and ground interaction forces of a six-bar tensegrity robot. The study addresses three coupled challenges within a unified framework: the dynamic effects of flexible-body deformation and environmental interaction, the construction of a finite gait library for realizing discrete motions, and a dynamics-informed local path-planning strategy for varying contact and friction conditions. A general dynamic model is established to describe contact friction and generate interaction-aware gaits. Subsequently, a gait library is developed that maps sequences of gait primitives to commanded motions. A lightweight local planning strategy, denoted as M1L2T3, is then formulated on this gait-primitive graph to enable efficient path selection under local map information. A proof-of-concept prototype is fabricated for experimental validation. Experimental results confirm the effectiveness of the interaction-coupled dynamic model for gait generation and locomotion control, showing reasonable agreement with theoretical predictions and validating the proposed planning strategy. The results demonstrate the value of incorporating interaction-aware gait realization into locomotion planning for tensegrity robots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"8 1","pages":"21695172261462705"},"PeriodicalIF":7.9,"publicationDate":"2026-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148342525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

SIMBI: Soft Intelligent Module for Benthic Interactions. SIMBI：底栖生物交互软智能模块。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-29 DOI: 10.1177/21695172261437502

Luca Romanello,Heinrich Stengel,Daniel Joseph Amir,Pham Huy Nguyen,Sophie Franziska Armanini,Mirko Kovac

{"title":"SIMBI: Soft Intelligent Module for Benthic Interactions.","authors":"Luca Romanello,Heinrich Stengel,Daniel Joseph Amir,Pham Huy Nguyen,Sophie Franziska Armanini,Mirko Kovac","doi":"10.1177/21695172261437502","DOIUrl":"https://doi.org/10.1177/21695172261437502","url":null,"abstract":"Soft underwater grippers are well-suited for ecological sampling, providing flexibility in handling specimens of different sizes and shapes while reducing environmental impact through their compliance. Yet they are usually employed on big remotely operated vehicles, constraining their application by size, which can disturb aquatic habitats and limit their ability to access remote areas without shoreline access such as mountain and forest lakes. To support efficient underwater exploration, we designed, developed, and tested an aerially deployed underwater vehicle featuring a compact, lightweight soft gripper. This design reduces water disturbance and enables precise navigation in confined underwater environments, significantly expanding operational capabilities underwater. By analyzing the pod's volume changes, buoyancy actuation, and propulsion mechanisms, we derive a simplified dynamic model to describe the underwater motion. We developed a control framework that decouples buoyancy, thrust, and yaw to enable independent control of underwater motion. Precise buoyancy control, essential for navigating interstices without causing ecological harm, was achieved with feedback control loops taking water depth as feedback, showing a rise time of under 5 s and a 10% settling time within 30 s. Yaw control, achieved via inertial measurement unit feedback, exhibited a rise time of less than 10 s with oscillations of 10%-25% around the set values. This system enhances underwater grasping, extends mission reach and efficiency, and helps minimize environmental disruption.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"2 1","pages":"21695172261437502"},"PeriodicalIF":7.9,"publicationDate":"2026-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147755003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic Modeling of a Soft Eversion-Based Growing Robot: Physical Analysis, Simulation, and Experimental Validation. 基于软版本的生长机器人的动态建模：物理分析、仿真和实验验证。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-24 DOI: 10.1177/21695172261442066

Abdonoor Kalibala,Ayman A Nada,Hiroyuki Ishii,Haitham El-Hussieny

{"title":"Dynamic Modeling of a Soft Eversion-Based Growing Robot: Physical Analysis, Simulation, and Experimental Validation.","authors":"Abdonoor Kalibala,Ayman A Nada,Hiroyuki Ishii,Haitham El-Hussieny","doi":"10.1177/21695172261442066","DOIUrl":"https://doi.org/10.1177/21695172261442066","url":null,"abstract":"Soft eversion-based growing robots, also known as vine robots, are a subclass of soft continuum robots that navigate their environment through tip extension-an eversion-based growth mechanism inspired by climbing plants. A deeper understanding of the underlying physics and dynamics of this unique locomotion strategy is crucial for expanding the applicability of soft eversion-based growing robots in complex and constrained environments. Despite their potential, comprehensive dynamic models that capture the full system behavior, including internal pressure dynamics and the pneumatic supply system, remain limited. In this study, we develop a first-principles-based dynamic model of a pressure-driven soft eversion-based growing robot, incorporating both the internal pressure evolution and the flow dynamics of the pneumatic supply system. The proposed model is simulated and experimentally validated on custom-built soft eversion-based growing robots. The proposed model demonstrates excellent predictive capability, achieving a root mean square error (RMSE) of 0.066 m, corresponding to about 5.5% of the final everted length. These findings highlight the critical importance of integrating both pressure and flow dynamics in modeling soft eversion-based growing robots to enable improved control strategies and deeper insight into their physical behavior.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"1 1","pages":"21695172261442066"},"PeriodicalIF":7.9,"publicationDate":"2026-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147735251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Tapered Magnetic Soft Continuum Catheters with Integrated Microchannels for Cerebral Intra-Arterial Chemotherapy Delivery. 集成微通道锥形磁软连续体导管用于脑动脉内化疗输送。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-15 DOI: 10.1177/21695172261438681

Alistair Bacchetti,Peter Lloyd,Michael Brockdorff,Benjamin Calmé,Joshua Davy,Vittorio Francescon,Nikita Murasovs,Yael L May,Ryan K Mathew,Russell A Harris,Pietro Valdastri,James H Chandler

{"title":"Tapered Magnetic Soft Continuum Catheters with Integrated Microchannels for Cerebral Intra-Arterial Chemotherapy Delivery.","authors":"Alistair Bacchetti,Peter Lloyd,Michael Brockdorff,Benjamin Calmé,Joshua Davy,Vittorio Francescon,Nikita Murasovs,Yael L May,Ryan K Mathew,Russell A Harris,Pietro Valdastri,James H Chandler","doi":"10.1177/21695172261438681","DOIUrl":"https://doi.org/10.1177/21695172261438681","url":null,"abstract":"Magnetic soft continuum robots (MSCRs) offer the possibility for wireless manipulation, compliant shape-forming, and miniaturization to the milli- and submillimeter scales. This presents them as an attractive choice in the development of robotic guidewires and catheters for endovascular applications. However, few approaches have considered strategies for geometric modification to enhance navigation and therapeutic delivery. These aspects are of high relevance for applications such as intra-arterial chemotherapeutic delivery. Here, we present an octopus tentacle-inspired MSCR with a monolithic material composition, tapered geometry of ≤ 2 mm, and integrated microchannels. We consider the suitability of a discrete elastic modeling approach alongside finite element based and material point method (MPM) simulations for capturing the deflection behavior of the tapered design under magnetic actuation. The MPM demonstrates the greatest accuracy, with root mean square errors in tip angle between 2.74° and 5.28°. For higher taper designs, experimental results highlight improved deflection under low magnetic field strengths (<5 mT) and an improved workspace at high actuation angles (up to 320°). We subsequently utilize tapered designs with a 0.66 mm distal tip diameter and embedded axial and lateral microchannel networks for localized drug simulant delivery in a neurovascular tumor phantom. We demonstrate significant improvements in localized drug delivery along specific vascular pathways in comparison to systemic intra-arterial delivery.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"93 1","pages":"21695172261438681"},"PeriodicalIF":7.9,"publicationDate":"2026-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147684847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bistable Steering Mechanism for Enhanced Control in Soft Toroidal Robots. 软环面机器人增强控制的双稳转向机构。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-15 DOI: 10.1177/21695172261438632

Shinwoo Park,Nam Gyun Kim,Dongoh Seo,Sanghun Lee,Jee-Hwan Ryu

{"title":"Bistable Steering Mechanism for Enhanced Control in Soft Toroidal Robots.","authors":"Shinwoo Park,Nam Gyun Kim,Dongoh Seo,Sanghun Lee,Jee-Hwan Ryu","doi":"10.1177/21695172261438632","DOIUrl":"https://doi.org/10.1177/21695172261438632","url":null,"abstract":"Navigating confined and complex environments, such as pipes, biological tissues, and collapsed debris, has remained a challenge for conventional robotic systems, which often struggle with maneuverability and adaptability. Soft toroidal robots offer a promising alternative, with a compact and lightweight toroidal shape that allows continuous movement without requiring bulky external equipment. However, the lack of a steering mechanism has limited their applicability in dynamic and complex terrains. To overcome this, we developed a steering mechanism that leverages the bistable characteristics inherent in the toroidal structure to enable curvature formation. By adjusting the position of the tail within the structure, the robot can change its direction of bending, enabling flexible and responsive steering. To achieve this bistable behavior, we utilized the orthotropic properties of ripstop nylon fabric, reducing the robot's bending stiffness and enhancing its steering capabilities. Through theoretical modeling and experimental validation, we identified key design parameters, such as optimal operating pressure and steering device length. The proposed soft toroidal robot, with a diameter of 70 mm and a total length of 400 mm, achieves 1-degree of freedom (DOF) steering by exploiting this bistable deformation. Our experiments demonstrated its ability to navigate a T-shaped pipe and climb vertically in confined spaces, achieving a maximum curvature of 13.4 m-1. These findings highlight the potential of soft toroidal robots for maneuvering through both confined and open environments with enhanced adaptability and efficiency.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"4 1","pages":"21695172261438632"},"PeriodicalIF":7.9,"publicationDate":"2026-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147684848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Low-Heat and Near-Silent Pneumatic Source Driven by Integrated Endothermic-Exothermic Chemical Reactions for Soft Robots. 软机器人吸热-放热化学反应集成驱动的低热近静音气动源。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-13 DOI: 10.1177/21695172261442062

Ung Heo,Junhwan Choi,Sangjoon J Kim,Jung Kim

{"title":"Low-Heat and Near-Silent Pneumatic Source Driven by Integrated Endothermic-Exothermic Chemical Reactions for Soft Robots.","authors":"Ung Heo,Junhwan Choi,Sangjoon J Kim,Jung Kim","doi":"10.1177/21695172261442062","DOIUrl":"https://doi.org/10.1177/21695172261442062","url":null,"abstract":"Among various soft actuators, soft pneumatic actuators (SPAs) powered by pressurized gases have been widely adopted due to their structural simplicity, ease of fabrication, and ability to generate diverse and adaptable motions. However, conventional mechanical compressors and chemical reaction-based pneumatic sources that supply pressurized gas to these actuators often generate substantial acoustic noise and heat, limiting their practical use. In this study, we propose an electronics-free, near-silent, and low-heat pneumatic source that integrates endothermic-exothermic chemical reactions to balance heat generation while producing pressurized gas. By only using passive mechanical components that autonomously regulate the reaction process, the pneumatic source achieved a steady output pressure of 7 bar and a flow rate of 6 liters per minute through the chemical reactions between phosphoric acid and cesium bicarbonate. The proposed pneumatic source operated with minimal temperature rise (maximum 36°C) and low acoustic noise of 40 dBA, comparable to the ambient noise of a quiet residential environment. The proposed approach demonstrates an enthalpy-balanced acid-bicarbonate system for combining endothermic and exothermic reactions to achieve thermally balanced and noise-suppressed pneumatic operation. Therefore, the proposed concept can serve as a practical and versatile pneumatic source for driving a wide range of SPAs.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"1152 1","pages":"21695172261442062"},"PeriodicalIF":7.9,"publicationDate":"2026-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147663715","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Hysteresis-Guided Pressure-Threshold Encoder for Soft Robots. 一种用于软机器人的磁滞引导压力阈值编码器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-13 DOI: 10.1177/21695172261443057

Weibin Xu,Tian Xu,Kuan Zhang,Qilong Du,Shuqi Wang,Jie Zhao,Jizhuang Fan

{"title":"A Hysteresis-Guided Pressure-Threshold Encoder for Soft Robots.","authors":"Weibin Xu,Tian Xu,Kuan Zhang,Qilong Du,Shuqi Wang,Jie Zhao,Jizhuang Fan","doi":"10.1177/21695172261443057","DOIUrl":"https://doi.org/10.1177/21695172261443057","url":null,"abstract":"Fluidic circuits offer an effective route to electronics-free control in soft robots. However, limited tunability of hysteresis in existing fluidic valves constrains their ability to exploit the analog characteristics of pressure inputs. As a result, many fluidic circuits rely on digital control with multiple external inputs, increasing system complexity. Here, we develop a hysteresis-guided pressure-threshold encoder (PTE) composed of hysteresis-tunable valves (HTVs) to convert a programmed pressure input into multiple digital outputs. By customizing the hysteresis behavior of the HTVs, the PTE provides a well-defined resolution for detecting variations in the input pressure. The PTE allows two modes of input-pressure programming: automated sequencing with an electronic device and manual sequencing with a mechanical pressure regulator. Integration of the PTE as an input module within digital fluidic circuits verifies its scalability and compatibility. Experimental demonstrations on soft joints and soft robotic hands confirm that the PTE enables multiactuator control using minimal inputs. Overall, this work provides an effective encoding method to reduce the number of external pressure lines from n to 2, providing a new approach for compact, electronics-free, and scalable control systems in soft robotics.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"77 4 1","pages":"21695172261443057"},"PeriodicalIF":7.9,"publicationDate":"2026-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147663721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cable Pneumatic Robot: Fabrication and Simulation. 电缆气动机器人：制造与仿真。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-09 DOI: 10.1177/21695172261442061

Songjie Jia,Yi Zhu

{"title":"Cable Pneumatic Robot: Fabrication and Simulation.","authors":"Songjie Jia,Yi Zhu","doi":"10.1177/21695172261442061","DOIUrl":"https://doi.org/10.1177/21695172261442061","url":null,"abstract":"This article presents an integrated fabrication and simulation framework for a cable pneumatic soft robot system capable of dexterous motions and complex functions. These cable pneumatic robots can harness pneumatic actuation for large shape morphing and utilize cable actuation for superior controllability. We first created a novel and low-cost fabrication method to build the proposed robots, including the soft robot structures and the controller hardware. In parallel, we developed a lumped parameter model to simulate the complex behaviors of cable pneumatic robots. This simulation platform is computationally more efficient than conventional finite element methods because it uses specially derived lumped elements with sparser nodes and less degrees-of-freedom. In addition, we use experiments to show that the model can accurately capture the bending stiffness and the actuation angle of the cable pneumatic robots. Finally, demonstration examples are presented to highlight the capabilities of the proposed robots and the versatility of the simulation. Realistic physical prototypes are presented to show that these robots can execute adaptive grasping motions and handle sophisticated tasks. Computational examples are presented to show that the proposed model can achieve close-to-real-time simulation. More significantly, we can implement cosimulation of cable pneumatic robots and the inverse kinematics of UR5e cobots by combining the proposed lumped parameter model with existing robotic simulators. Such capabilities enable the proposed simulation to have wide applications for different soft robotic systems.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"110 1","pages":"21695172261442061"},"PeriodicalIF":7.9,"publicationDate":"2026-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147636128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Corrigendum to: Proprioception and Control of a Soft Pneumatic Actuator Made of a Self-Healable Hydrogel. 由可自我修复的水凝胶制成的软气动致动器的本体感觉和控制的更正。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-04-09 DOI: 10.1177/21695172261437789

引用次数: 0