Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able to use one third as many mechatronic components as a rigid Stewart platform, while retaining a working payload of 2kg and an open-loop bandwidth greater than 16Hz. We show that the platform is capable of both precise tracing and dynamic disturbance rejection when controlling a ball and sliding puck using a Proportional Integral Derivative (PID) controller. We develop a machine-learning-based kinematics model and demonstrate a functional workspace of roughly 10cm in each translation direction and 28 degrees in each orientation. This 6DoF device has many of the characteristics associated with rigid components - power, speed, and total workspace - while capturing the advantages of soft mechanisms.
@article{arxiv.2504.13127,
title = {Force and Speed in a Soft Stewart Platform},
author = {Jake Ketchum and James Avtges and Millicent Schlafly and Helena Young and Taekyoung Kim and Ryan L. Truby and Todd D. Murphey},
journal= {arXiv preprint arXiv:2504.13127},
year = {2025}
}