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Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…

This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance…

Fluid-driven elastomeric actuators (FEAs) are among the most popular actuators in the emerging field of soft robotics. Intrinsically compliant, with continuum of motion, large strokes, little friction, and high power-to-weight ratio, they…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…

Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced Bending Fluidic Actuators (BFAs) became very popular thanks…

Soft slender structures are ubiquitous in natural and artificial systems and can be observed at scales that range from the nanometric to the kilometric, from polymers to space tethers. We present a practical numerical approach to simulate…

Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically…

Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured…

Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…

Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…

Soft machines are poised to deliver significant real-world impact, with soft robotics emerging as a key sub-discipline. This field integrates biological inspiration, materials science, and embodied intelligence to create bio-robotic…

Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…

Muscles of the human body are composed of tiny actuators made up of myosin and actin filaments. They can exert force in various shapes such as curved or flat, under contact forces and deformations from the environment. On the other hand,…

Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…

Integration of both actuation and proprioception into the robot body would provide actuation and sensing in a single integrated system. Within this work, a manufacturing approach for such actuators is investigated that relies on 3D printing…

Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…

The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…