Soft Robotics

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21 papers in the last four weeks, up 133% on the four weeks before. 0.2% of all new papers.

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  1. Topology-Optimized Pneumatic Soft Actuator: Design and Experimental Validation

    May 19, 2026Sumit Mehta, Konstantinos PouliosTopology OptimizationSoft Robotics

    Department of Civil and Mechanical Engineering Technical University of Denmark, Denmark

  2. Terrestrial Soft Mobile Robots: A Review

    May 19, 2026Dimuthu D. K. ArachchigeRobotic ControlMobile Robotics

    School of Computing, DePaul University, Chicago, IL, USA · Department of Computer Science, Hampton University, Hampton, VA, USA

  3. Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot

    May 18, 2026Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2Robot Dynamics IdentificationNonlinear System Identification

    European Organization for Nuclear Research (CERN), Switzerland · Department of Engineering Cybernetics, Norwegian University of Science and Technology, NTNU, NO-7491 Trondheim, Norway

  4. ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics

    May 18, 2026Ziyu Wei, Luting Wang, Chen Gao +2Language-Conditioned Robot ManipulationRobotic RL

    Beihang University · Hangzhou Innovation Institute, Beihang University · National University of Singapore

  5. Bidirectional Optical sensors for Actuation Tracking (BOAT) in soft lattice systems

    May 18, 2026Petr Trunin, Carolina Gay, Anderson Brazil Nardin +3Soft Robotics

  6. A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation

    May 18, 2026William Su, Jordan Kam, Yixiao Wang +1Dexterous ManipulationSpace Robotics

    Aerospace Engineering Program, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, National University of Singapore, Singapore 117575.

  7. Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs

    May 13, 2026Alex Sayres, Giovanni PittiglioContinuum Robot ControlSoft Robotics

    FuTURE Lab, Department of Robotics Engineering, Worcester Polytechnic Insitute (WPI), Worcester, MA 01605, USA

  8. BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots

    May 12, 2026Yu Mei, Xinyu Zhou, Vedant Naik +2Robotic ControlRobust Control

    Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA

  9. Introducing Environmental Constraints to Grasping Strategies for Paper-Like Flexible Materials Using a Soft Gripper

    May 12, 2026Yi Dong, Yang Li, Jinjun Duan +1Robotic GraspingDeformable Object Manipulation

    College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 211106, Jiangsu, China. · Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 211106, Jiangsu, China.

  10. Continuum Robot Modeling with Action Conditioned Flow Matching

    May 9, 2026Jiong Lin, Jinchen Ruan, Hod Lipson3D Shape GenerationPoint Cloud Generation

    Department of Mechanical Engineering, Columbia University, New York, NY, USA

  11. Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding

    May 7, 2026Yiyuan Zhang, Anye Zhong, Junkai Chen +1RoboticsRobot Locomotion

    Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore · Advanced Robotics Centre, National University of Singapore, Singapore · Singapore-MIT Alliance for Research and Technology Centre, Singapore

  12. 3D Printing of Passively Actuated Self-Folding Robots with Integrated Functional Modules

    May 6, 2026Gaolin Ge, Qifeng Yang, Haoran Lu +3Modular RoboticsRobotics

    Mechanical Engineering, University of Washington, Seattle, WA, USA. · Electrical & Computer Engineering, University of Washington, Seattle, WA, USA. · Computer Science and Engineering, University of Notre Dame, Notre Dame, IN, USA. +1

  13. Quasi-Static Control of Discrete Cosserat Rod

    May 2, 2026Srishti Siddharth, Domenico Campolo, Ravi BanavarRobot Trajectory TrackingFeedback Control

    Centre for Systems and Control Indian Institute of Technology Bombay Mumbai, India · School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

  14. Topology-Driven Anti-Entanglement Control for Soft Robots

    May 1, 2026Haoyang Le, Shengxuan Wang, Mohan Chen +1Multi-Robot CoordinationSoft Robotics

    School of Mathematics and Statistics, Zhengzhou University, No. 100 Science Avenue, Zhengzhou, 450001, Henan, China · School of Computer Science and Artificial Intelligence, Zhengzhou University, No. 100 Science Avenue, Zhengzhou, 450001, Henan, China · College of Information Engineering, North China University of Water Resources and Electric Power, No. 136 Jinshui East Road, Jinshui District, Zhengzhou, 450046, Henan, China

  15. A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers

    May 1, 2026Kaiwen Zuo, Shuyuan Yang, Zonghe ChuaRobotic GraspingRobotic Manipulation

    Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106, USA

  16. Stochastic Entanglement of Deterministic Origami Tentacles For Universal Robotic Gripping

    Apr 29, 2026Alec Boron, Bokun Zheng, Ziyang Zhou +2Robotic GraspingRobotics

    Department of Mechanical Engineering, Virginia Tech, VA, USA

  17. Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials

    Apr 28, 2026Carson Kohlbrenner, Caleb Escobedo, Sayak Ray +5Robotic Tactile SensingSoft Robotics

    Human Interaction and Robotics [HIRO] Group, University of Colorado Boulder, 1111 Engineering Drive, Boulder, CO USA.

  18. A Compact Peristaltic Pump Based on Magneto-Elastic Hysteresis with Single Pneumatic Control

    Apr 23, 2026Minjo Park, Metin SittiSoft Robotics

    Max Planck Institute for Intelligent System, 70569 Stuttgart, Germany · School of Medicine and College of Engineering, Kocſ University, İstanbul, Rumelifeneri Yolu 34450, Türkiye

  19. Muscle-inspired magnetic actuators that push, pull, crawl, and grasp

    Apr 20, 2026Muhammad Bilal Khan, Florian Hofmann, Kilian Schäfer +2Robotic GraspingAdditive Manufacturing

    1Functional Materials, Institute of Materials Science, Technical University of Darmstadt, 64287 Darmstadt, Germany · 2Additive Manufacturing Center, Technical University of Darmstadt, 64289 Darmstadt, Germany

  20. Modeling, Control and Self-sensing of Dielectric Elastomer Soft Actuators: A Review

    Apr 19, 2026Y. Zhao, G. MengSoft Robotics

    School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China · State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

  21. A Reconfigurable Pneumatic Joint Enabling Localized Selective Stiffening and Shape Locking in Vine-Inspired Robots

    Apr 17, 2026Ayodele James Oyejide, Ustaz A. Yaqub, Samir Erturk +2RoboticsSoft Robotics

    Department of Electrical and Electronics Engineering, Kadir Has University, Cibali, Istanbul, Türkiye · Department of Computer Engineering, Kadir Has University, Cibali, Istanbul, Türkiye · Department of Mechatronics Engineering, Istanbul Bilgi University, Istanbul, Türkiye

  22. Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling

    Mar 19, 2026Harald Minde Hansen, Nandita Gallacher, Nicholas B. Andrews +3Continuum Robot ControlTendon-Driven Actuation

    Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN), Meyrin, Switzerland · Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway

  23. Octopus-inspired Distributed Control for Soft Robotic Arms: A Graph Neural Network-Based Attention Policy with Environmental Interaction

    Mar 10, 2026Linxin Hou, Qirui Wu, Zhihang Qin +2Continuum Robot ControlDecentralized MARL

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Computer Science, National University of Singapore, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore +2

  24. Receptogenesis in a Vascularized Robotic Embodiment

    Mar 10, 2026Kadri-Ann Pankratov, Leonid Zinatullin, Hans Priks +6RoboticsSoft Robotics

    Institute of Technology, University of Tartu, Nooruse 1, 50411 Tartu, Estonia · Institute of Technology, Via Morego, 30, 16163 Genova, Italy

  25. Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots

    Mar 9, 2026Chenrui Zhang, Yiyuan Zhang, Yunfei Ye +3Underwater RoboticsSystem Identification

    Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore. · Singapore-MIT Alliance for Research and Technology (SMART) Centre, 138602, Singapore.

  26. Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton

    Feb 20, 2026Josée Mallah, Zakii Javed, Zafer Azak +2Assistive RoboticsSoft Robotics

    Electrical Engineering Division, Department of Engineering, University of Cambridge, Cambridge, CB3 0FA, United Kingdom · Cambridge University Hospitals NHS Foundation Trust, Cambridge CB22 5LD, United Kingdom

  27. Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems

    Feb 3, 2026Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5Robotic ControlModel Predictive Control

    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Cognitive Robotics, Delft University of Technology, 2628 CN Delft, The Netherlands +3

  28. Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist

    Jan 27, 2026Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki +3Robotic ControlDexterous Manipulation

    OMRON SINIC X Corporation, 5-24-5 Hongo, Bunkyo-ku, Tokyo, 113-0033, Japan · The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan · Northeastern University, 360 Huntington Ave, Boston, MA, 02115, USA

  29. Highly Deformable Proprioceptive Membrane for Real-Time 3D Shape Reconstruction

    Jan 20, 2026Guanyu Xu, Jiaqi Wang, Dezhong Tong +1Tactile Sensing3D Reconstruction

    University of Michigan, Ann Arbor, MI 48109, USA

  30. Soft Pneumatic Grippers: Topology optimization, 3D-printing and Experimental validation

    Nov 24, 2025Prabhat Kumar, Chandra Prakash, Josh Pinskier +2Topology OptimizationMechanism Design

    Department Mechanical and Aerospace Engineering. India Institute of Technology Hyderbad, Telangana 502285, India · CSIRO Robotics, Pullenvale, QLD 4069, Australia · Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, Delft, 2628CD, Zuid-Holland, The Netherlands