Soft Robotics最新文献

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

Shape-Adaptive Robotics: Programmable Morphing through SMA and SMP Integration. 形状自适应机器人：通过SMA和SMP集成的可编程变形。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-03-30 DOI: 10.1177/21695172261437932

Qianyi Chen,Ruochen Wu,Xinhai Zhou,Dingena Schott,Jovana Jovanova

{"title":"Shape-Adaptive Robotics: Programmable Morphing through SMA and SMP Integration.","authors":"Qianyi Chen,Ruochen Wu,Xinhai Zhou,Dingena Schott,Jovana Jovanova","doi":"10.1177/21695172261437932","DOIUrl":"https://doi.org/10.1177/21695172261437932","url":null,"abstract":"Shape memory alloys (SMAs) or shape memory polymers (SMPs) enable soft actuators to achieve advanced adaptabilities applied in soft robotics. However, actuators that combine multiple shape memory materials struggle to achieve complex deformation effects and stiffness variations with effective control strategies. To achieve controllable, shape adaptation, and programmed deforming behavior, this study proposes an integrated control strategy for an SMA-SMP based programmable morphing structure used as an actuator in soft robotics. To achieve precise control over programming deformations and stiffness variation, a multi-target thermal sensing method (MTTSM) was proposed, integrated into an interaction-driven control framework. Based on MTTSM, the coordinated actuation between the SMA springs and the SMP structure is realized, enabling standby of preheating, stepping with programmed deformations, and dynamic stiffness changes. In addition, to achieve dynamic monitoring of deformed states, the co-training-based monitoring system is developed for collaboration, enabling the use of multisensor fusion for position estimation in the absence of end-effectors that can directly measure the deformed structure of the flexible body. In conclusion, the proposed integration strategy of MTTSM and the cotraining monitoring system offers a control solution for integrating multiple shape memory materials into morphing structures as smart actuators applied to soft robotic applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"44 1","pages":"21695172261437932"},"PeriodicalIF":7.9,"publicationDate":"2026-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147536517","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

Compliance Model-Based Contact Force Control for Soft Continuum Robots. 基于柔度模型的软连续体机器人接触力控制。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2026-03-28 DOI: 10.1177/21695172261431194

Jialei Shi,Sara-Adela Abad,Jian S Dai,Helge Wurdemann

{"title":"Compliance Model-Based Contact Force Control for Soft Continuum Robots.","authors":"Jialei Shi,Sara-Adela Abad,Jian S Dai,Helge Wurdemann","doi":"10.1177/21695172261431194","DOIUrl":"https://doi.org/10.1177/21695172261431194","url":null,"abstract":"Soft robots are increasingly being explored and developed in various settings that demand safe and adaptable interactions between robots and their environments. In addition, soft robots exhibit passive compliant behavior and generate continuous deformations when engaging with the environment. This imposes challenges on achieving active, on-demand interaction force control, especially when feedback force-sensing devices are not available. Consequently, there is a need to explore new model-based force control paradigms for soft robots. In this article, we propose a (quasi-)static force control approach for soft robots based on compliance modeling, avoiding the necessity for feedback control loops or extensive training data collection. The proposed approach can deliver contact force control along three Cartesian axes when the robot is actuated into various configurations. The compliance matrix is derived from the robot configuration, which allows the calculation of desired deflection displacements needed to generate on-demand forces. The resulting force control is achieved by solving inverse kinematics problems based on these deflection displacements. The efficacy of our proposed controller is validated through experiments with both one- and two-segment pneumatic-driven soft continuum robots. The results demonstrate effective static force control performance, with mean control errors below 5% of the desired peak forces.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"16 1","pages":"21695172261431194"},"PeriodicalIF":7.9,"publicationDate":"2026-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147535682","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