Soft Robotics in Engineering: Materials, Actuation Technologies, and Control Strategies

Abstract

Soft robotics represents a transformative shift in robotic design, emphasizing compliance, adaptability, and safety through the use of deformable materials and bioinspired architectures. This review provides a comprehensive synthesis of recent advancements in soft robotic systems, focusing on three foundational pillars: functional materials, actuation technologies, and control strategies. We examine the development of elastomers, stimuli-responsive polymers, and nanocomposites that enable mechanical flexibility and multifunctionality. Key actuation approaches-including pneumatic, dielectric, thermal, magnetic, and hybrid systems-are analyzed with respect to their efficiency, scalability, and integration challenges. On the control side, we explore both model-based and AI-driven methods, highlighting the need for real-time adaptability and robust sensor feedback. Despite promising progress, major obstacles persist in system-level integration, precision control, and commercial scalability. To address these issues, we identify future research directions such as lightweight energy systems, multimodal feedback, and bioinspired material architectures. This review underscores the importance of interdisciplinary collaboration in advancing soft robotics from laboratory prototypes to practical, real-world applications.