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Machines
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Innovations in Soft Robotics: Enhancing Safety, Performance, and Dexterity
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Innovations in Soft Robotics: Enhancing Safety, Performance, and Dexterity

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Robotics, Mechatronics and Intelligent Machines".

Deadline for manuscript submissions: 30 June 2026 | Viewed by 3483

Special Issue Editors

Dr. Zixiao Liu

E-Mail Website
Guest Editor
Department of Materials Science and Engineering, University of California, Los Angeles, CA, USA
Interests: solid mechanics; soft materials; structural dynamics; aerospace engineering; soft robotics; vibration; orbital mechanics; wearable sensing
Dr. Wen Hong

E-Mail Website
Guest Editor
Ophthalmology, Stanford University, Stanford, CA 94305, USA
Interests: materials science; bioelectronics; soft robotics to develop innovative biomedical devices
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Soft robotics is an emerging field that leverages compliant materials, bio-inspired designs, and flexible actuation to create systems capable of safe and adaptive interactions with complex, dynamic environments. Unlike traditional rigid robots, soft robots are engineered with materials that mimic the elasticity of natural organisms, enabling them to conform, adapt, and interact delicately with both objects and humans. This multidisciplinary research area combines advances in materials science, organic chemistry, mechanics, control theory, and manufacturing technologies to overcome challenges in dexterity and operational safety. As applications expand—from biomedical devices and wearable assistive technologies to search-and-rescue operations and delicate manufacturing—the need for innovations that improve performance while ensuring user safety becomes increasingly critical.

We are pleased to invite you to contribute to our Special Issue, “Innovations in Soft Robotics: Enhancing Safety, Performance, and Dexterity”.

The Special Issue aims to explore the latest innovations in soft robotics to enhance operational safety, improve performance metrics, and advance dexterity in practical applications.

In this Special Issue, original research articles and reviews are welcome. Research areas may include (but are not limited to) the following:

  • Soft robotic materials and their fabrication techniques;
  • Mechanics of soft materials;
  • Actuation, control and sensing strategies for soft robots;
  • Human–soft robot interaction;
  • New applications of soft robotics.

We look forward to receiving your contributions.

Dr. Zixiao Liu
Dr. Wen Hong
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 250 words) can be sent to the Editorial Office for assessment.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • soft robotics
  • human–soft robot interaction
  • actuation
  • soft materials

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Published Papers (2 papers)

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Research

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18 pages, 9591 KB  
Article
Elastic-Snapping–Driven Butterfly Stroke: A Soft Robotic Fish
by Lin Tian, Ruo-Pu Chen, Yu Zhao, Zhi-Peng Wang, Jiao Jia, Weifeng Yuan, Xi-Qiao Feng and Zi-Long Zhao
Machines 2025, 13(12), 1078; https://doi.org/10.3390/machines13121078 - 24 Nov 2025
Viewed by 310
Abstract
The locomotion of fish provides inspiration for designing efficient and agile underwater robots. Potamotrygon motoro propels itself by generating traveling waves along its pectoral fins. Inspired by its graceful swimming stroke, we design and fabricate a robotic fish, where the snap-through instability of [...] Read more.
The locomotion of fish provides inspiration for designing efficient and agile underwater robots. Potamotrygon motoro propels itself by generating traveling waves along its pectoral fins. Inspired by its graceful swimming stroke, we design and fabricate a robotic fish, where the snap-through instability of elastic curved rods is exploited to produce the undulatory fin motion. In this design, the rotary input of two motors is transformed smoothly and continuously to controllable wave-like fin deformation. By changing the initial fin shape, motor speed, and friction at the releasing end, the propulsion performance and the maneuverability of the robotic fish can be significantly improved. The physical prototype of the robotic fish is fabricated, and its swimming performance is measured. Its maximum swimming speed reaches 0.76 BL/s, and it can achieve small-radius turns with a maximum angular speed of 1.25 rad/s. In contrast to the multi-actuator systems, the proposed dual-motor, elastic-snapping–driven design is featured by simple structural construction, low energy consumption, excellent maneuverability, and superb adaptation to environments. Our robotic fish holds promising applications in such areas as environmental monitoring, underwater inspection, and ocean exploration. The propulsion strategy presented in this work may pave a new way for the design of shape-morphing robots as well as other soft machines at multiple length scales. Full article
(This article belongs to the Special Issue Innovations in Soft Robotics: Enhancing Safety, Performance, and Dexterity)
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Review

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31 pages, 3565 KB  
Review
Overview: A Comprehensive Review of Soft Wearable Rehabilitation and Assistive Devices, with a Focus on the Function, Design and Control of Lower-Limb Exoskeletons
by Weilin Guo, Shiv Ashutosh Katiyar, Steve Davis and Samia Nefti-Meziani
Machines 2025, 13(11), 1020; https://doi.org/10.3390/machines13111020 - 5 Nov 2025
Cited by 1 | Viewed by 2810
Abstract
With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the development of wearable rehabilitation devices. This review examines [...] Read more.
With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the development of wearable rehabilitation devices. This review examines how these systems are designed and controlled, as well as how they differ from the rigid exoskeletons that preceded them. Made from flexible fabrics and lightweight components, soft exoskeletons use pneumatic or cable mechanisms to support movement while keeping close contact with the body. Their compliant structure helps to reduce joint stress and makes them more comfortable for long periods of use. The discussion in this paper covers recent work on lower-limb designs, focusing on actuation, power transmission, and human–robot coordination. It also considers the main technical barriers that remain, such as power supply limits, the wear and fatigue of soft materials, and the challenge of achieving accurate tracking performance, low latency, and resilience to external disturbances. Studies reviewed here show that these systems help users regain functionality and improve rehabilitation, while also easing caregivers’ workload. The paper ends by outlining several priorities for future development: lighter mechanical layouts, better energy systems, and adaptive control methods that make soft exoskeletons more practical for everyday use as well as clinical therapy. Full article
(This article belongs to the Special Issue Innovations in Soft Robotics: Enhancing Safety, Performance, and Dexterity)
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