A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics

Ean Lovett, Maxwell Hammond, Niloufar Seyfi, Amirreza Fahim Golestaneh, Venanzio Cichella and Caterina Lamuta

adv. robot. res., 2025
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Data-Driven Methods Applied to Soft Robot Modeling and Control: A Review

Zixi Chen, Federico Renda, Alexia Le Gall, Lorenzo Mocellin, Matteo Bernabei, Théo Dangel, Gastone Ciuti, Matteo Cianchetti and Cesare Stefanini

IEEE Trans. Automat. Sci. Eng., 2025, 22, 2241
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Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots

Brandon J. Caasenbrood, Alexander Y. Pogromsky and Henk Nijmeijer

IEEE Access, 2024, 12, 17604
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An augmented reality-enabled digital twin system for reconfigurable soft robots: Visualization, simulation and interaction

Zhongyuan Liao, Wanzhen Wei, Leihan Zhang, Yuer Gao and Yi Cai

Computers in Industry, 2025, 168, 104285
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Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots

Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez and Robert K. Katzschmann

IEEE Robot. Autom. Lett., 2024, 9, 2830
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Advanced Flexible Sensing Technologies for Soft Robots

Juntian Qu, Guangming Cui, Zhenkun Li, Shutong Fang, Xianrui Zhang, Ang Liu, Mingyue Han, Houde Liu, Xueqian Wang and Xiaohao Wang

Adv Funct Materials, 2024, 34
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SoftTex: Soft Robotic Arm With Learning-Based Textile Proprioception

Niccolò Pagliarani, Carlo Alessi, Luca Arleo, Giulia Campinoti, Martina Maselli, Egidio Falotico and Matteo Cianchetti

IEEE Robot. Autom. Lett., 2025, 10, 3779
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Spring-IMU Fusion-Based Proprioception for Feedback Control of Soft Manipulators

Yinan Meng, Guoxin Fang, Jiong Yang, Yuhu Guo and Charlie C. L. Wang

IEEE/ASME Trans. Mechatron., 2024, 29, 832
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A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability

Zixi Chen, Matteo Bernabei, Vanessa Mainardi, Xuyang Ren, Gastone Ciuti and Cesare Stefanini

Soft Robotics, 2024
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Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Francesco Stella, Cosimo Della Santina and Josie Hughes

IEEE Robot. Autom. Lett., 2024, 9, 1945
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Sensing in Soft Robotics

Chidanand Hegde, Jiangtao Su, Joel Ming Rui Tan, Ke He, Xiaodong Chen and Shlomo Magdassi

ACS Nano, 2023, 17, 15277
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Sensing of Continuum Robots: A Review

Peter Sincak, Erik Prada, Ľubica Miková, Roman Mykhailyshyn, Martin Varga, Tomas Merva and Ivan Virgala

Sensors, 2024, 24, 1311
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Materializing Autonomy in Soft Robots across Scales

Thomas A. Berrueta, Todd D. Murphey and Ryan L. Truby

Advanced Intelligent Systems, 2024, 6
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Shape Reconstruction of Extensible Continuum Manipulator Based on Soft Sensors

Pengyuan Wang, Yaqing Feng, Zheng Zheng, Zhiguang Xing and Jianwen Zhao

Soft Robotics, 2024, 11, 994
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Deep Learning Methods in Soft Robotics: Architectures and Applications

Tomáš Čakurda, Monika Trojanová, Pavlo Pomin and Alexander Hošovský

Advanced Intelligent Systems, 2025, 7
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Advancing Soft Robot Proprioception Through 6D Strain Sensors Embedding

Daniel Feliu-Talegon, Yusuf Abdullahi Adamu, Anup Teejo Mathew, Abdulaziz Y. Alkayas and Federico Renda

Soft Robotics, 2025, 12, 465
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3-Axis Angular Strain Estimation With Hall Effect Sensors for Proprioception of Soft Robotic Manipulators

Yusuf Abdullahi Adamu, Daniel Feliu-Talegon, Anup Teejo Mathew and Federico Renda

IEEE Robot. Autom. Lett., 2025, 10, 8666
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