Soft robots' flexibility and compliance give them the potential to outperform traditional rigid-
bodied robots while performing multiple tasks in unexpectedly changing environments and …

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 …

Herein, recent advances, current limitations, and open challenges in the design, modeling,
and control of continuum robots are discussed. Thanks to their lean bodies, these robots …

The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …

With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …

Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to
perform manipulation task under the specific drive mode inspired by the soft tissue. It is …

Piecewise constant curvature models have proven to be an useful tool for describing
kinematics and dynamics of soft robots. However, in their three dimensional formulation they …

The compliant structure and influence of external forces usually result in complex
deformation of soft continuum robots, which makes the accurate modeling and control of the …

The physical characteristics of animals' bodies are substantially different from those of
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …

Soft robots are primarily composed of soft materials that can allow for mechanically robust
maneuvers that are not typically possible with conventional rigid robotic systems. However …