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Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…

In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…

Soft and flexible conductors are essential in the development of soft robots, wearable electronics, as well as electronic tissue and implants. However, conventional soft conductors are inherently characterized by a large change in…

Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…

In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…

Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits leads to inefficiencies due to mathematically unoptimized circuits and…

Biological locomotion in nature is often achieved by the interaction between a flexible body and its surrounding medium. The interaction of a flexible body with granular media is less understood compared with viscous fluids partially due to…

Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…

Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as…

Soft adhesive pads are needed for many robotics applications, and one approach is based on electroadhesion. Here we present a general analytic model and numerical results for electroadhesion for soft solids with arbitrary time-dependent…

Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…

Recently, magnetorheological elastomers have become an interesting smart material with many new designs for robotics. A variety of applications have been built with magnetorheological elastomers, such as vibration absorbers, actuators, or…

Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…

Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered…

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…

Softer means stickier for solid adhesives, because material compliance facilitates close contact between non-conformal surfaces. Recent discoveries have revealed that soft materials can exhibit a rich array of new physics arising from…