Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the piecewise constant curvature model in combination with the quaternion data from IMUs to allow for accuracy reconstruction and closed-loop control. A key strength of this approach is that it is hardware agnostic, and could be used on any soft structure to provide pose reconstruction and controllability. We explore this approach experimentally on a growing, extendable 3D printed continuum body structure, demonstrating that high accuracy reconstruction that can be achieved.@en

Biology provides many examples of how body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid that uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary its maneuverability to help escape predators. Using this crinoid as inspiration, we develop a robotic system that can alter its interaction with the environment by changing its morphology. We propose a robot that can actuate layers of flexible feathers and detach them at will. We first optimize the geometric and control parameters for a flexible feather using a hydrodynamic simulation followed by physical experiments. Second, we provide a theoretical framework for understanding how body change affects controllability. Third, we present a novel design of a soft swimming robot ( Figure 1 ) with the ability of changing its morphology. Using this optimized feather and theoretical framework, we demonstrate, on a robotic setup, how the detachment of feathers can be used to change the motion path while maintaining the same low-level controller.@en

The control possibilities for soft robots have long been hindered by the lack of accurate yet computationally treatable dynamic models of soft structures. Polynomial curvature models propose a solution to this quest for continuum slender structures. Nevertheless, the results produced with this class of models have been so far essentially theoretical. With the present work, we aim to provide a much-needed experimental validation to these recent theories. To this end, we focus on soft tentacles immersed in water. First, we propose an extension of the affine curvature model to underwater structures, considering the drag forces arising from the fluid-solid interaction. Then, we extensively test the model's capability to describe the system behavior across several shapes and working conditions. Finally, we validate model-based control policies, proposing and solving an optimal control problem for directional underwater swimming. Using the model we show an average increase of more than 3.5 times the swimming speed of a sinusoidal baseline controller, with some tentacles showing an improvement in excess of 5.5 times the baseline.@en

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and manipulation capabilities and safe human-robot interactions. However, the interactions, or perturbations by external forces cause the soft structure to deform in an infinite degree of freedom (DOF) space. To control such system, reduced order models are needed; typically models consider piecewise sections of constant curvature although external forces often deform the structure out of the constant curvature hypothesis. In this work we perform an analysis of the trade-off between computational treatability and modelling accuracy. We then propose a new kinematic model, the Piecewise Affine Curvature (PAC) which we validate theoretically and experimentally showing that this higher-order model better captures the configuration of a soft continuum body robot when perturbed by the external forces. In comparison to the current state of the art Piecewise Constant Curvature (PCC) model we demonstrate up to 30% reduction in error for the end position of a soft continuum body robot.@en

Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft robotic arm that ensures separate smell concentration readings. We propose designing the nose to generate a one-to-one matching between the sensors' inputs and the actuators. This design choice allows us to implement a simple control strategy tailored to reach a dynamically varying smell in the environment, which we validate on a two-segment tendon-driven soft robotic arm equipped with the proposed artificial nose. We also propose and validate in simulation a control strategy for reaching tasks in the case of a stationary smell@en

Soft robots promise groundbreaking advancements across various industries. However, soft robots are susceptible to wear, fatigue, and material degradation. Their durability and long-term reliability are often overlooked, despite being critical for the successful deployment of these systems in real-world applications. This article contributes to solving this challenge by identifying metrics that reflect material wear, mechanical hysteresis, and drift occurring during long-term operations in soft architectured materials. While this same pipeline can be generalized to different soft robots, we test these metrics on the trimmed helicoid architectured materials, and we validate the improvement in performance on the Helix soft manipulator. Thanks to the proposed metrics, we demonstrate a 75% reduction in repeatability errors over long-duration experiments.@en

Soft robots promise groundbreaking advancements across various industries. However, soft robots are susceptible to wear, fatigue, and material degradation. Their durability and long-term reliability are often overlooked, despite being critical for the successful deployment of these systems in real-world applications. This article contributes to solving this challenge by identifying metrics that reflect material wear, mechanical hysteresis, and drift occurring during long-term operations in soft architectured materials. While this same pipeline can be generalized to different soft robots, we test these metrics on the trimmed helicoid architectured materials, and we validate the improvement in performance on the Helix soft manipulator. Thanks to the proposed metrics, we demonstrate a 75% reduction in repeatability errors over long-duration experiments.@en

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter proposes a method to eliminate this limitation by leveraging the Piecewise Constant Curvature model assumption. We validate the reconstruction capabilities of the algorithm in simulation and experimentally. To this end, we also present a novel large-scale, foam-based manipulator with embedded IMU sensors. Using the filter, we bring the accuracy in IMU-based reconstruction algorithms to 93% of the soft robot's length and enable substantially longer measurements than the baseline. We also show that the proposed technique generates reliable estimations for closed-loop control of the robot's shape.@en

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a prominent feedforward control action to preserve the soft and safe robot behavior. To tackle this challenge, this letter proposes a purely feedforward iterative learning control algorithm that refines the torque action by leveraging both the knowledge of the model and data obtained from past experience. After presenting a 3D polynomial description of soft robots, we study their intrinsic properties, e.g., input-to-state stability, and we prove the convergence of the controller coping with locally Lipschitz nonlinearities. Finally, we validate the proposed approach through simulations and experiments involving multiple systems, trajectories, and in the case of external disturbances and model mismatches.@en

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 softness. However, simply equipping a robot with softness will not generate intelligent behaviors. Indeed, most interaction tasks require careful specification of the compliance at the interaction point; some directions must be soft and others firm (e.g., while drawing, entering a hole, tracing a surface, assembling components). On the contrary, without careful planning, the preferential directions of deformation of a soft robot are not aligned with the task. With this work, we propose a strategy to prescribe variations of the physical stiffness and the robot's posture so to implement a desired Cartesian stiffness and location of the contact point. We validate the algorithm in simulation and with experiments. To perform the latter, we also present a new tendon-driven soft manipulator, equipped with variable-stiffness segments and proprioceptive sensing and capable to move in three dimensional. We show that, combining the intelligent hardware with the proposed algorithm, we can obtain the desired stiffness at the end-effector over the workspace.@en

We show that large language models (LLMs), such as ChatGPT, can guide the robot design process, on both the conceptual and technical level, and we propose new human–AI co-design strategies and their societal implications.@en

The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are needed. In this work we propose a new sensing approach for soft underwater slender structures based on embedded pressure sensors and use a learning-based pipeline to link the sensor readings to the shape of the soft structure. Using two different modeling techniques, we compare the pose reconstruction accuracy and identify the optimal approach. Using the proprioceptive sensing capabilities we show how this information can be used to assess the swimming performance over a number of metrics, namely swimming thrust, tip deflection, and the traveling wave index. We conclude by demonstrating the robustness of the embedded sensor on a free swimming soft robotic squid swimming at a maximum velocity of 9.5 cm/s, with the absolute tip deflection being predicted within an error less than 9% without the aid of external sensors.@en