The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation

Soft robotics technology can aid in achieving United Nations’ Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in unstructured environments. At the same time, new procedures and techniques have been developed to reduce the invasiveness of surgical operations. Minimally Invasive Surgery (MIS) has been successfully employed for abdominal interventions, however standard MIS procedures are mainly based on rigid or semi-rigid tools that limit the dexterity of the clinician. This paper presents a soft and high dexterous manipulator for MIS. The manipulator was inspired by the biological capabilities of the octopus arm, and is designed with a modular approach. Each module presents the same functional characteristics, thus achieving high dexterity and versatility when more modules are integrated. The paper details the design, fabrication process and the materials necessary for the development of a single unit, which is fabricated by casting silicone inside specific molds. The result consists in an elastomeric cylinder including three flexible pneumatic actuators that enable elongation and omni-directional bending of the unit. An external braided sheath improves the motion of the module. In the center of each module a granular jamming-based mechanism varies the stiffness of the structure during the tasks. Tests demonstrate that the module is able to bend up to 120° and to elongate up to 66% of the initial length. The module generates a maximum force of 47 N, and its stiffness can increase up to 36%.

Stroke is a leading cause of mobility impairments. As more people suffer from stroke, there is a growing need for rehabilitation. Rehabilitation robots have been proven effective in assisting patients in their rehabilitation process. However, many existing rehabilitation robots are costly, so the accessibility to patients in need is limited. Soft robot technology has great potential to make rehabilitation more accessible. This paper presents a proof-of-concept soft robot design that could be used for finger rehabilitation, especially for those who suffer from clenched fists after a stroke. Using silicone elastomer and pneumatic actuation, we successfully fabricated a soft robot that curled in its resting state to fit under the patient’s clenched fist and straightened when actuated by compressed air to push the patient’s fingers open. With a unique approach to bonding the two-layer silicone elastomer structure, our soft robot can change shape to straight from its original curling state with a small air pressure (2 to 3 psi). Preliminary testing results demonstrate our soft robot’s functionality and provide valuable insights for us to optimize our design further to reach our eventual goal as a rehabilitation device that assists finger rehabilitation.

The goal of the robotics industry has been to build devices that mirror the remarkable powers of the human body ever since it was founded. In an attempt to emulate the compliance and deformability of genuine biological tissue, efforts have been made to construct actuators and electronics out of elastomers, textiles, and other soft materials as early as the 1940s. Since then, the field of soft robotics has advanced extraordinarily, with recent work concentrating on actuation, sensing, and application. In this review, recent advancement in the soft robotically field from the perspective of soft actuators, soft material, and biomedical application is highlighted. Soft actuators had gone decent development along with different advantages and setbacks. The need for chemistry and material science has been increasingly large in recent years and the material for 4D printing manufacturing is a major focus. Biomedical applications can be advanced by introducing soft robotics combined with existing technology. The biocompatibility issue is a major challenge to be faced, and perspectives on such regard will be discussed.

With the emerging sector of new industrial age is afoot, innovations are made every day in order to cope with new technologies. Maintenance and regular repairs are key roles in keeping the industry as efficient as possible. With maintenance, safety is paramount in order to prevent accidents and further delays in production. In order to tackle issues for inspecting hazardous and tight spaces, this study utilizes soft robotics technology in aiming to achieve an efficient and cost-effective means to safely inspect tight and hazardous spaces. Soft Robotics is a field in robotics that specializes in materials that are flexible and elastic. Their movements mimic movements that are often found in nature. The soft robotic arm that will be accomplished in this study is a soft robotic tentacle arm with a mounted camera for inspection. This is especially good in reaching places that have limited spaces. The soft robotic arm will be actuated pneumatically and will have an electronic pneumatic microcontroller for its activation. A minicamera will also be mounted on the tip of the robotic arm for the inspection system. With the results and data gathered, it shows that this system can effectively maneuver using its electronic pneumatic controllers. The soft robot arm is also stable enough for the mini camera to be mounted on.

From Responsive Molecules to Interactive Materials.

In recent years, soft robotics technologies enabled the development of a new generation of biomedical devices. The combination of elastomeric materials with tunable properties and muscle-like motions paved the way toward more realistic phantoms and innovative soft active implants as artificial organs or assistive mechanisms. This review collects the most relevant studies in the field, giving some insights about their distribution in the past 10 years, their level of development and opening a discussion about the most commonly employed materials and actuating technologies. The reported results show some promising trends, highlighting that the soft robotics approach can help replicate specific material characteristics in the case of static or passive organs but also reproduce peculiar natural motion patterns for the realization of dynamic phantoms or implants. At the same time, some important challenges still need to be addressed. However, by joining forces with other research fields and disciplines, it will be possible to get one step closer to the development of complex, active, self-sensing and deformable structures able to replicate as closely as possible the typical properties and functionalities of our natural body organs.

This paper reviews the research progress of bionic soft robot technology learned from octopuses. The number of related research papers increased from 760 in 2021 to 1170 in 2024 (Google Scholar query), with a growth rate of 53.95% in the past five years. These studies mainly explore how humans can learn from the physiological characteristics of octopuses for sensor design, actuator development, processor architecture optimization, and intelligent optimization algorithms. The tentacle structure and nervous system of octopus have high flexibility and distributed control capabilities, which is an important reference for the design of soft robots. In terms of sensor technology, flexible strain sensors and suction cup sensors inspired by octopuses achieve accurate environmental perception and interaction. Actuator design uses octopus muscle fibers and movement patterns to develop various driving methods, including pneumatic, hydraulic and electric systems, which greatly improves the robot's motion performance. In addition, the distributed nervous system of octopuses inspires multi-processor architecture and intelligent optimization algorithms. This paper also introduces the concept of expected functional safety for the first time to explore the safe design of soft robots in failure or unknown situations. Currently, there are more and more bionic soft robot technologies that draw on octopuses, and their application areas are constantly expanding. In the future, with further research on the physiological characteristics of octopuses and the integration of artificial intelligence and materials science, octopus soft robots are expected to show greater potential in adapting to complex environments, human-computer interaction, and medical applications.

Bio-inspired robotic structure composed of soft actuation units has attracted increasing research interests in its potential and capacity of complying with unstructured and dynamic environment, as well as providing safe interaction with human; however, this inevitably poses technical challenging to achieve steady, reliable control due to the remarkable non-linearity of its kinematics and dynamics. To resolve this challenge, we propose a novel control framework that can characterize the kinematics of a soft continuum robot through the hyper-elastic Finite-element modeling (FEM). This enables frequent updates of the Jacobian mapping from the user motion input to the end-effector's point of view. Experimental validation has been conducted to show the feasibility of controlling the soft robot for intracavitary path following. This could be the first success to demonstrate the perspectives of achieving stable, accurate and effective manipulation under large change of robot morphology without having to deduce its analytical model. It is anticipated to draw further extensive attention on resolving the bottleneck against the application of FEM, namely its intensive computation.

BackgroundChronic stroke patients usually experience reduced hand functions, impeding their ability to perform activities of daily living (ADLs) independently. Additionally, improvements in hand functions by physical therapy beyond six months after the initial onset of stroke are much slower than in the earlier months. As such, chronic stroke patients could benefit from an assistive device to enhance their hand functions, allowing them to perform ADLs independently daily. In recent years, soft robotics has provided a novel approach to assistive devices for motor impaired individuals, offering more compliant and lightweight alternatives to traditional robotic devices. The scope of this study is to demonstrate the viability of a fabric-based soft robotic (SR) glove with bidirectional actuators in assisting chronic stroke study participants with hand impairments in performing ADLs.MethodsForce and torque measurement tests were conducted to characterize the SR Glove, and hand functional tasks were given to eight chronic stroke patients to assess the efficacy of the SR Glove as an assistive device. The tasks involved object manipulation tasks that simulate ADLs, and the series of tasks was done by the participants once without assistance for baseline data, and once while using the SR Glove. A usability questionnaire was also given to each participant after the tasks were done to gain insight into how the SR Glove impacts their confidence and reliance on support while performing ADLs.ResultsThe SR Glove improved the participants’ manipulation of objects in ADL tasks. The difference in mean scores between the unassisted and assisted conditions was significant across all participants. Additionally, the usability questionnaire showed the participants felt more confident and less reliant on support while using the SR Glove to perform ADLs than without the SR Glove.ConclusionsThe results from this study demonstrated that the SR Glove is a viable option to assist hand function in chronic stroke patients who suffer from hand motor impairments.

The unremitting trends of the elderly population have contributed to the aging society in many countries. In present, one-fifth of the population will be an elderly population which is more than the working-age population. Moreover, according to Ministry of Public Health of Thailand, the statistics showing that in 2025 Thailand is going into the aged society which elderly population will increase to 25% or about 14M people from 72M people by that year but in the other way lack therapist which is about 0.01% of the population affect the rehabilitation process. Therefore, the assistive device as the exoskeletons will be playing a crucial role as rehabilitation for people [1]-[3] and power-assistant [4]-[6], who have a problem with controlling their muscle. In the field of a factory or heavy workers, elder people, and amyotrophic lateral sclerosis patients or others symptom, the power-assist exoskeleton will able the user to work more efficiently or able to do some activity in daily life such as in this research from K. Kazuo, et al. [7]. They develop an exoskeleton that helps to apply forces to the user’s motion in order to perform some action such as eating.

A sparse-dense hierarchical structured conductive elastomer composites for highly sensitive and stretchable strain sensor

Soft robotics technology creates new ways for legged robots to interact with and adapt to their environment. In this paper we develop i) a new 2-degree-of-freedom soft pneumatic actuator, and ii) a novel soft robotic hexapedal robot called SoRX that leverages the new actuators. Simulation and physical testing confirm that the proposed actuator can generate cyclic foot trajectories that are appropriate for legged locomotion. Consistent with other hexapedal robots (and animals), SoRX employs an alternating tripod gait to propel itself forward. Experiments reveal that SoRX can reach forward speeds of up to 0.44 body lengths per second, or equivalently 101 mm/s. With a size of 230 mm length, 140 mm width and 100 mm height, and weight of 650 grams, SoRX is among the fastest tethered soft pneumatically-actuated legged robots to date. The motion capabilities of SoRX are evaluated through five experiments: running, step climbing, and traversing rough terrain, steep terrain, and unstable terrain. Experimental results show that SoRX is able to operate over challenging terrains in open-loop control and by following the same alternating tripod gait across all experimental cases.

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications" [1], in the "4.2. TSA Design Validation" section, the text reading "The maximum deformation with the maximum load of 80 N is max 1.08 10 -4 m indicating the compliant frame deformation is within the goal working region < 0.12 mm and can be considered linear." should be corrected as follows.

In recent years, robotics has made notable progress, becoming an essential component of daily life by facilitating complex tasks and enhancing human experiences. While most robots have traditionally featured hard surfaces, the growing demand for more comfortable and safer human-robot interactions has driven the development of soft robots. One type of soft robot, which incorporates innovative skin materials, transforms rigid structures into more pliable and adaptive forms, making them better suited for interacting with humans. Especially in healthcare and rehabilitation, robotic skin technology has gained substantial attention, offering transformative solutions for improving the functionality of prosthetics, exoskeletons, and companion robots. Although replicating the complex sensory functions of human skin remains a challenge, ongoing research in soft robotics focuses on developing sensors that mimic the softness and tactile sensitivity necessary for effective interaction. This review provides a narrative analysis of current trends in robotic skin development, specifically tailored for healthcare and rehabilitation applications, including skin types of sensor technologies, materials, challenges, and future research directions in this rapidly developing field.