From a functional standpoint, classic robots are not at all similar to biological systems. If
compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to
their inherent compliance. Some of these systems are even able to modulate their physical …

Ongoing advancements in the design and fabrication of soft robots are creating new
challenges in modeling and control. This paper presents a dynamic Cosserat rod model for …

Operations involving safe interactions in unstructured environments require robots with
adapting behaviors. Compliant manipulators are a promising technology to achieve this …

In this article, a new nonlinear disturbance observer (NDO) based fixed-time dynamic
surface control (FTDSC) approach is developed to achieve desired trajectory tracking …

Although soft robots show safer interactions with their environment than traditional robots,
soft mechanisms and actuators still have significant potential for damage or degradation …

In this paper, we present Sorotoki, an open-source toolkit in MATLAB that offers a
comprehensive suite of tools for the design, modeling, and control of soft robots. The …

This paper proposes an efficient trajectory planning and dynamic tracking controller scheme
for a pneumatic continuum manipulator under the effect of material hysteresis. First of all …

Controlling soft continuum manipulators is a challenging task due to the structural
compliance of these systems which results in underactuation. While a variety of control …

Modern industrial and medical applications require soft actuators with practical actuation
methods, capable of precision control and high-speed performance. Within the realm of …