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Soft Robots

Encyclopedia of Robotics

Synonyms

Compliant Robots; Elastically Actuated Robots; Flexible Robots

Definition

Soft robots are robotic systems with purposefully designed compliant elements embedded into their mechanical structure.

Overview

The physical characteristics of animals’ bodies are substantially different from those of classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact with the external world and perform dynamic tasks (Fig. 1). The function of elastic elements in natural bodies is discussed in Roberts and Azizi (2011) and summarized in Table 1.

Fig. 1
figure 1

Compliance is ubiquitous in natural bodies and appears in disparate forms. The only rigid body part of an octopus (a) is its beak, which is about 1 inch wide, so that this invertebrate mollusk can squeeze in small crevices to prey. The compliant body of vertebrates such as humans (b) enables them to perform dynamic motions with high resilience to impacts. Some vertebrates have continuously deformable parts, e.g.,...

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Notes

  1. 1.

    The term continuous robots is also used, albeit less frequently

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Authors and Affiliations

  1. Cognitive Robotics Department, Delft University of Technology, Delft, Netherlands

    Cosimo Della Santina

  2. Institute of Robotics and Mechatronics, German Aerospace Center, Weßling, Germany

    Cosimo Della Santina

  3. Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy

    Manuel G. Catalano & Antonio Bicchi

  4. Centro di Ricerca Enrico Piaggio, Università di Pisa, Pisa, Italy

    Antonio Bicchi

Authors
  1. Cosimo Della Santina
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  2. Manuel G. Catalano
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  3. Antonio Bicchi
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Correspondence to Manuel G. Catalano or Antonio Bicchi .

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Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

Section Editor information

  1. Laboratoire de robotique, Département de génie mécanique, Université Laval, Québec, QC, Canada

    Clément Gosselin

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Della Santina, C., Catalano, M.G., Bicchi, A. (2020). Soft Robots. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_146-1

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    Soft Robots
    Published:
    04 February 2021

    DOI: https://doi.org/10.1007/978-3-642-41610-1_146-2

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    DOI: https://doi.org/10.1007/978-3-642-41610-1_146-1

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