Cover Image

Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Exley, Trevor, Nardin, Anderson Brazil, Trunin, Petr, Cafiso, Diana, Beccai, Lucia
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

MELEGROS: Monolithic Elephant-inspired Gripper with Optical Sensors
by: Trunin, Petr, et al.
Published: (2025)

Bidirectional Optical sensors for Actuation Tracking (BOAT) in soft lattice systems
by: Trunin, Petr, et al.
Published: (2026)

3D-printed Soft Optical sensor with a Lens (SOLen) for light guidance in mechanosensing
by: Cafiso, Diana, et al.
Published: (2026)

Optically Sensorized Electro-Ribbon Actuator (OS-ERA)
by: Gay, Carolina, et al.
Published: (2026)

Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
by: Indukumar, Gayatri, et al.
Published: (2026)

Neural Cellular Automata for Decentralized Sensing using a Soft Inductive Sensor Array for Distributed Manipulator Systems
by: Dacre, Bailey, et al.
Published: (2025)

Parallel Simulation of Contact and Actuation for Soft Growing Robots
by: Gao, Yitian, et al.
Published: (2025)

An Event-Based Opto-Tactile Skin
by: Koolani, Mohammadreza, et al.
Published: (2026)

Sensorimotor Control Strategies for Tactile Robotics
by: Donato, Enrico, et al.
Published: (2025)

Enhancing Kinematic Performances of Soft Continuum Robots for Magnetic Actuation
by: Wu, Zhiwei, et al.
Published: (2025)

Actuation Strategies for Underwater Jet‐Propelled Soft Robots
by: Angel Kitone, et al.
Published: (2026)

The Elephant Trunk Skin Inspires a Highly Sensitive and Deformable, Yet Robust, Armor Skin
by: Jun Chang Yang, et al.
Published: (2026)

Magnetic Tactile-Driven Soft Actuator for Intelligent Grasping and Firmness Evaluation
by: Du, Chengjin, et al.
Published: (2025)

Towards a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications
by: Exley, Trevor, et al.
Published: (2023)

A Unified Low-Dimensional Design Embedding for Joint Optimization of Shape, Material, and Actuation in Soft Robots
by: Candiello, Vittorio, et al.
Published: (2026)

Anisotropic Stiffness and Programmable Actuation for Soft Robots Enabled by an Inflated Rotational Joint
by: Wang, Sicheng, et al.
Published: (2024)

Design, Actuation, and Functionalization of Untethered Soft Magnetic Robots with Life-Like Motions: A Review
by: Miao, Jiaqi, et al.
Published: (2023)

Soft Actuators Integrated with Control and Power Units: Approaching Wireless Autonomous Soft Robots
by: Renwu Shi, et al.
Published: (2025)

Soft Pneumatic Actuators for Soft Robotics: A Motion-Based Review of Actuation Mechanisms and Performance Trade-offs
by: Abboodi, Mohammed
Published: (2026)

Optimization-Driven Design of Monolithic Soft-Rigid Grippers
by: Mansueto, Pierluigi, et al.
Published: (2024)

Degradable Magnetic Composites from Recycled NdFeB Magnets for Soft Actuation and Sensing
by: Muhammad Bilal Khan, et al.
Published: (2025)

TVIM: Thermo-Active Variable Impedance Module: Evaluating Shear-Mode Capabilities of Polycaprolactone
by: Exley, Trevor, et al.
Published: (2024)

A Soft Robotic Module with Pneumatic Actuation and Enhanced Controllability Using a Shape Memory Alloy Wire
by: Golchin, Mohammadnavid
Published: (2025)

Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
by: Yang, Liudi, et al.
Published: (2025)

Agonist-Antagonist Pouch Motors: Bidirectional Soft Actuators Enhanced by Thermally Responsive Peltier Elements
by: Exley, Trevor, et al.
Published: (2024)

Continuum Robot State Estimation with Actuation Uncertainty
by: Ferguson, James M., et al.
Published: (2026)

EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation
by: Romero, Branden, et al.
Published: (2024)

Self-Sensing for Proprioception and Contact Detection in Soft Robots Using Shape Memory Alloy Artificial Muscles
by: Jing, Ran, et al.
Published: (2024)

A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
by: Su, William, et al.
Published: (2026)

Differentiable Simulation of Soft Robots with Frictional Contacts
by: Ménager, Etienne, et al.
Published: (2025)

Integrated Design and Fabrication of Pneumatic Soft Robot Actuators in a Single Casting Step
by: Silva, Afonso, et al.
Published: (2024)

External Steering of Vine Robots via Magnetic Actuation
by: Kim, Nam Gyun, et al.
Published: (2024)

Textile Actuation Based on In‐Air Actuating Polypyrrole‐Based Tape Yarns for Wearable Soft Robotics: Toward On‐Body Applications
by: Carin Backe, et al.
Published: (2026)

A Two‐Stage Characterization Pipeline and Open‐Source Framework for Reproducible Tactile Sensing
by: Matteo Lo Preti, et al.
Published: (2026)

Physics-Grounded Differentiable Simulation for Soft Growing Robots
by: Chen, Lucas, et al.
Published: (2025)

Developing Simulation Models for Soft Robotic Grippers in Webots
by: Hadi, Yulyan Wahyu, et al.
Published: (2024)

Switch-based Independent Antagonist Actuation with a Single Motor for a Soft Exosuit
by: Vadeyar, Atharva, et al.
Published: (2025)

DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion
by: Davydenko, Egor, et al.
Published: (2025)

CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction
by: Xu, Boxin, et al.
Published: (2024)

Soft Surfaced Vision-Based Tactile Sensing for Bipedal Robot Applications
by: Kim, Jaeeun, et al.
Published: (2026)