Bibliography of Soft Robotics

The readings are a centerpiece of the course. We will together be exploring the soft robotics and art literature. Following are some suggested starting points for robotics literature searches. The Guide to Library Resources page addresses more details of the literature search process.

The papers are categorized in the following sections with brief descriptions. The citations in the descriptions link further below to the full bibliographic references. A few papers relate to the Videos of Related Work.

Surveys and Overviews of Soft Robotics

  • A survey paper on “Continuum Robots” from 1999 [R83]. A historical view of soft robotics before the term had been invented.

  • A trend survey from the first issue of the Soft Robotics journal [R64] (2013).

  • A survey of soft robots in 2015 from a biomimetic perspective [R86].

  • A bibliometric analysis of the field of Soft Robotics from 2018 [R8]. Might be useful as a snapshot of practitioners and general topics, although also a view of the role of citation networks.

Manipulators

Robot manipulators incorporating soft components to support grasping and sensing.

  • “Elephant trunk” manipulator [R20] (1999).

  • Viscoelastic robot skin incorporating optical sensing [R111].

  • “OctArm” continuum manipulator [R120] (2006). Similar to an elephant trunk.

  • Universal soft gripper based on jamming of granular material [R3]. Also known as the “coffee powder gripper”.

  • Robot hand with pneumatic soft silicone fingers [R24]. (The “RBO Hand”).

  • Soft robotic grippers for biological sampling on deep reefs [R31] (2016). Bellows-style soft fingers on a rigid palm.

  • “Active-Braid”, a bioinspired continuum manipulator [R35] (2017). Trunk-like manipulator, more a compliant mechanism than a soft robot.

  • Soft gripper system based on a ‘gecko-foot’ microfibrillar dry adhesive material combined with pressure-controlled deformable body [R94] (2017). This is part of a body of work based on micro-structuring soft materials to provide high adhesion.

  • Printed Paper Actuator: A Low-cost Reversible Actuation and Sensing Method for Shape Changing Interfaces [R106] (2018).

Sensors

  • Compliant robot finger tips incorporating optical sensing [R80] (2007).

  • Soft robot skin incorporating capacitive sensing [R103] (2010).

  • Soft artificial skin using embedded microchannels and liquid conductors [R78] (2012). See related video: Harvard Microrobotics Lab.

  • Soft multi-axis force sensor using embedded microfluidic channels [R105] (2013).

  • Fabric Sensory Sleeves for Soft Robot State Estimation [R116] (2017). Capacitive strain sensors screenprinted onto fabric sleeves, applicable to joint sensing.

  • Optically sensorized elastomer air chamber for proprioceptive sensing of soft pneumatic actuators [R44] (2020).

Actuators

  • Polymer gel actuators [R73] (2007).

  • “…setting the pressure of multiple chambers using a single pressure source when they are interconnected via band-pass valves” [R74] (2014).

  • Rollable multisegment dielectric elastomer minimum energy structures for a deployable microsatellite gripper [R5] (2015). The application is a gripper, but the focus is a high-voltage compliant dielectric actuator.

  • RBO Hand 2, a compliant underactuated dextrous manipulator [R25] (2016). Anthromorphic design (five fingers), seven actuators, “PneuFlex actuators” combining inelastic fabric, silicone rubber, and plastic parts.

  • An Overview of Shape Memory Alloy-Coupled Actuators and Robots [R85] (2017).

  • Review of soft actuators for small-scale robotics [R37] (2017).

  • Untethered soft robotics [R82] (2018). Survey of actuation and sensing approaches for soft robots, including soft electronics, citing multiple projects.

  • Electroactive textile actuators for wearable and soft robots [R33] (2018). High-voltage dielectric elastomer actuators.

  • Soft LEGO [R58] (2018). Modular soft pneumatically-driven LEGO blocks compatible with rigid LEGO blocks. Includes design examples of mixed hard and soft structures.

  • Morphing origami block [R50] (2020). Modular folding blocks driven by shape-memory alloy wire actuators.

  • Compliant electromagnetic actuator architecture for soft robotics [R52] (2020).

  • Soft actuators with embedded ferromagnetic particles programmed by controlled magnetization [R2] (2020).

  • A Review of Magnetic Elastomers and Their Role in Soft Robotics [R12] (2020)

  • Resilient yet entirely degradable gelatin-based biogels for soft robots and electronics [R9] (2020).

  • Dielectric-elastomer based capacitive micro-speakers [R95] (2020).

Materials

  • Self-Healing in Soft Pneumatic Robotics [R99] (2020). Primarily concerned with polymer chemistry, includes actuator descriptions and prototype manipulator.

Design and Fabrication of Soft Robots

  • Algorithmic design of freeform soft locomotion robots [R36] (2012).

  • PneUI: Pneumatically Actuated Soft Composite Materials for Shape Changing Interfaces [R113] (2013).

  • Magnetic Assembly of Soft Robots with Hard Components [R55] (2014).

  • Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers [R72] (2014). Directly printing resistive ink within a rubber substrate. Could also be classified under ‘sensors’, although the focus is on fabrication.

  • Survey of methods for fabrication of soft fluidic elastomer robots [R66] (2015).

  • bioPrint: A Liquid Deposition Printing System for Natural Actuators [R114] (2015).

  • Techniques for hand-sculpting soft machines and actuators using rubber and salt [R6] (2016).

  • Laser-cutter cutting and welding thermoplastic fabrication of soft pneumatic actuators [R4] (2018).

  • Metamaterials: soft structures with functional properties created using internal structures [R41] (2018), [R42] (2019)

  • Dynamic simulation of articulated soft robots [R40] (2020).

  • DefeXtiles: 3D Printing Quasi-Woven Fabric via Under-Extrusion [R29] (2020).

  • MorphingCircuit: An Integrated Design, Simulation, and Fabrication Workflow for Self-morphing Electronics [R107] (2020).

Locomotion

  • GoQBot: a caterpillar-inspired soft-bodied rolling robot [R62] (2011).

  • Multigait soft robot [R89] (2011). Fully soft pneumatically actuated walking and crawling device.

  • Untethered jumping soft robot [R101] (2014). Uses chemical fuel for explosive propulsion.

  • Echinoderm-inspired tube feet for robust robot locomotion and adhesion [R10] (2018). Electromagnetic and hydraulic sucker feet.

  • Small-scale soft-bodied robot with multimodal locomotion [R39] (2018). Millimeter-scale soft robots with external magnetic actuation.

  • An autonomous untethered fast soft robotic insect driven by low-voltage dielectric elastomer actuators [R43] (2019).

  • Electrically activated soft rolling robots [R61] (2020).

  • Biomimetic magnet-embedded worm-like soft robot [R76] (2020). Centimeter-scale soft device with external magnetic actuation.

  • “Vine Robots”: inflatable robots based on an everting tube. See also the Stanford University, charmlab video page.

    • Helical actuation on a soft inflated robot body [R13] (2018).

    • Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration [R21] (2020).

Swimming Robots

  • Soft-bodied pneumatic manta swimming robot [R98] (2007).

  • Soft robotic fish using fluidic elastomer actuators [R67] (2014).

  • Octobot overview [R56] (2017). Magazine article (Spectrum), so not highly technical, more of a story and overview.

  • Fast-Moving Soft Electronic Fish [R60] (2017).

  • Soft biomimetic fish robot made of dielectric elastomer actuators [R90] (2018).

  • Thrust force characterization of free-swimming soft robotic jellyfish [R30] (2018). See also Florida Atlantic University, BioRobotics Lab video page.

  • Multi-Functional Soft-Bodied Jellyfish-like Swimming [R81] (2019).

Biomimicry and Biomechanics

  • The octopus as paradigm for soft robotics [R19] (2013). Two-page brief arguing for tentacles, including description of a prototype.

  • Soft robot mimicking a human tongue [R63] (2017). Part pneumatic system design, part biomechanics study.

Human-Robot Interaction

  • Inflatable cable-driven robot arm for safe human interaction [R87] (2011) [R88] (2013).

  • Wearable soft sensing suit for human gait measurement [R69] (2014).

  • Wearable soft artificial skin for hand motion detection with embedded microfluidic strain sensing [R17] (2015). A partial glove of soft elastomer for hand movement sensing.

  • Modular inflatable actuators and sensors for human-safe robot arms [R51] (2018).

  • Puffy, a friendly inflatable social robot [R102] (2018). Video and abstract. See also Politecnico di Milano video page.

  • Skin-On interfaces: a bio-driven approach for artificial skin design to cover interactive devices [R100] (2019). E.g., artificial sensor skin for your smart phone.

  • Soft Wearable Skin-Stretch Device for Haptic Feedback Using Twisted and Coiled Polymer Actuators [R18] (2019)

  • ElectroDermis: Fully Untethered, Stretchable, and Highly-Customizable Electronic Bandages [R68] (2019). Combines elements of soft electronics and wearables.

  • Venous Materials: towards interactive fluidic mechanisms [R71] (2020). Could equally well be classified under soft sensors, but application focus is human interaction. Related: Hands-on studio workshop on interactive fluidic mechanisms [R70] (2020). Conference workshop proposal for making soft sensors and displays for human interaction.

Robotics References

Cited References

R1

Roland Aigner, Andreas Pointner, Thomas Preindl, Patrick Parzer, and Michael Haller. Embroidered Resistive Pressure Sensors: A Novel Approach for Textile Interfaces. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems, CHI '20, 1–13. New York, NY, USA, April 2020. Association for Computing Machinery. doi:10.1145/3313831.3376305.

R2

Yunus Alapan, Alp C. Karacakol, Seyda N. Guzelhan, Irem Isik, and Metin Sitti. Reprogrammable shape morphing of magnetic soft machines. Science Advances, 6(38):eabc6414, 2020. Publisher: American Association for the Advancement of Science Section: Research Article. doi:10.1126/sciadv.abc6414.

R3

J.R. Amend, E.M. Brown, N. Rodenberg, H.M. Jaeger, and H. Lipson. A positive pressure universal gripper based on the jamming of granular material. IEEE Transactions on Robotics, 28(2):341–350, 2012. doi:10.1109/TRO.2011.2171093.

R4

Amir Ali Amiri Moghadam, Seyedhamidreza Alaie, Suborna Deb Nath, Mahdie Aghasizade Shaarbaf, James K. Min, Simon Dunham, and Bobak Mosadegh. Laser cutting as a rapid method for fabricating thin soft pneumatic actuators and robots. Soft Robotics, 5(4):443–451, 2018. Publisher: Mary Ann Liebert, Inc., publishers. doi:10.1089/soro.2017.0069.

R5

O. A. Araromi, I. Gavrilovich, J. Shintake, S. Rosset, M. Richard, V. Gass, and H. R. Shea. Rollable multisegment dielectric elastomer minimum energy structures for a deployable microsatellite gripper. IEEE/ASME Transactions on Mechatronics, 20(1):438–446, 2015. doi:10.1109/TMECH.2014.2329367.

R6

Alfredo Argiolas, Benjamin C. Mac Murray, Ilse Van Meerbeek, John Whitehead, Edoardo Sinibaldi, Barbara Mazzolai, and Robert F. Shepherd. Sculpting soft machines. Soft Robotics, 3(3):101–108, 2016. Publisher: Mary Ann Liebert, Inc., publishers. doi:10.1089/soro.2016.0004.

R7

Rhodri Armour, Keith Paskins, Adrian Bowyer, Julian Vincent, and William Megill. Jumping robots: a biomimetic solution to locomotion across rough terrain. Bioinspiration & Biomimetics, 2(3):S65–S82, June 2007. doi:10.1088/1748-3182/2/3/S01.

R8

Guanjun Bao, Hui Fang, Lingfeng Chen, Yuehua Wan, Fang Xu, Qinghua Yang, and Libin Zhang. Soft robotics: academic insights and perspectives through bibliometric analysis. Soft Robotics, 5(3):229–241, Jun 2018. Publisher: Mary Ann Liebert, Inc., publishers. doi:10.1089/soro.2017.0135.

R9

Melanie Baumgartner, Florian Hartmann, Michael Drack, David Preninger, Daniela Wirthl, Robert Gerstmayr, Lukas Lehner, Guoyong Mao, Roland Pruckner, Stepan Demchyshyn, Lisa Reiter, Moritz Strobel, Thomas Stockinger, David Schiller, Susanne Kimeswenger, Florian Greibich, Gerda Buchberger, Elke Bradt, Sabine Hild, Siegfried Bauer, and Martin Kaltenbrunner. Resilient yet entirely degradable gelatin-based biogels for soft robots and electronics. Nature Materials, 19(10):1102–1109, October 2020. doi:10.1038/s41563-020-0699-3.

R10

M. A. Bell, I. Pestovski, W. Scott, K. Kumar, M. K. Jawed, D. A. Paley, C. Majidi, J. C. Weaver, and R. J. Wood. Echinoderm-inspired tube feet for robust robot locomotion and adhesion. IEEE Robotics and Automation Letters, 3(3):2222–2228, 2018. doi:10.1109/LRA.2018.2810949.

R11

Mads Bering Christiansen and Jonas Jørgensen. Augmenting Soft Robotics with Sound. In Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, HRI '20, 133–135. New York, NY, USA, March 2020. Association for Computing Machinery. doi:10.1145/3371382.3378328.

R12

Nicholas Bira, Pallavi Dhagat, and Joseph R. Davidson. A review of magnetic elastomers and their role in soft robotics. Frontiers in Robotics and AI, 2020. Publisher: Frontiers. doi:10.3389/frobt.2020.588391.

R13

L. H. Blumenschein, N. S. Usevitch, B. H. Do, E. W. Hawkes, and A. M. Okamura. Helical actuation on a soft inflated robot body. In IEEE International Conference on Soft Robotics (RoboSoft), 245–252. 2018. doi:10.1109/ROBOSOFT.2018.8404927.

R14

A. Bonarini, F. Garzotto, M. Gelsomini, M. Romero, F. Clasadonte, and A. N. Ç Yilmaz. A huggable, mobile robot for developmental disorder interventions in a multi-modal interaction space. In 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 823–830. August 2016. doi:10.1109/ROMAN.2016.7745214.

R15

John Brackenbury. Caterpillar kinematics. Nature, 390(6659):453–453, December 1997. doi:10.1038/37253.

R16

John-John Cabibihan, Hifza Javed, Marcelo Ang, and Sharifah Mariam Aljunied. Why Robots? A Survey on the Roles and Benefits of Social Robots in the Therapy of Children with Autism. International Journal of Social Robotics, 5(4):593–618, November 2013. doi:10.1007/s12369-013-0202-2.

R17

J. Chossat, Yiwei Tao, V. Duchaine, and Y. Park. Wearable soft artificial skin for hand motion detection with embedded microfluidic strain sensing. In IEEE International Conference on Robotics and Automation (ICRA), 2568–2573. 2015. ISSN: 1050-4729. doi:10.1109/ICRA.2015.7139544.

R18

J.-B. Chossat, D. K. Y. Chen, Y.-L. Park, and P. B. Shull. Soft wearable skin-stretch device for haptic feedback using twisted and coiled polymer actuators. IEEE Transactions on Haptics, 12(4):521–532, 2019. Conference Name: IEEE Transactions on Haptics. doi:10.1109/TOH.2019.2943154.

R19

M. Cianchetti. The octopus as paradigm for soft robotics. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 515–516. October 2013. doi:10.1109/URAI.2013.6677325.

R20

Radosław Cieślak and Adam Morecki. Elephant trunk type elastic manipulator - a tool for bulk and liquid materials transportation. Robotica, 17(1):11–16, 1999. Publisher: Cambridge University Press. doi:10.1017/S0263574799001009.

R21

M. M. Coad, L. H. Blumenschein, S. Cutler, J. A. Reyna Zepeda, N. D. Naclerio, H. El-Hussieny, U. Mehmood, J.-H. Ryu, E. W. Hawkes, and A. M. Okamura. Vine robots: design, teleoperation, and deployment for navigation and exploration. IEEE Robotics Automation Magazine, 27(3):120–132, 2020. doi:10.1109/MRA.2019.2947538.

R22

Simone Colombo, Franca Garzotto, Mirko Gelsomini, Mattia Melli, and Francesco Clasadonte. Dolphin Sam: A Smart Pet for Children with Intellectual Disability. In Proceedings of the International Working Conference on Advanced Visual Interfaces, AVI '16, 352–353. New York, NY, USA, June 2016. Association for Computing Machinery. doi:10.1145/2909132.2926090.

R23

M. Degiorgi, F. Garzotto, M. Gelsomini, G. Leonardi, S. Penati, N. Ramuzat, J. Silvestri, F. Clasadonte, and Y. Kinoe. Puffy — An inflatable robotic companion for pre-schoolers. In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 35–41. August 2017. doi:10.1109/ROMAN.2017.8172277.

R24

Raphael Deimel and Oliver Brock. A compliant hand based on a novel pneumatic actuator. In Proceedings of IEEE International Conference on Robotics and Automation, 2047–2053. 2013. doi:10.1109/ICRA.2013.6630851.

R25

Raphael Deimel and Oliver Brock. A novel type of compliant and underactuated robotic hand for dexterous grasping. The International Journal of Robotics Research, 35(1-3):161–185, January 2016. doi:10.1177/0278364915592961.

R26

Cathy Fang, Yang Zhang, Matthew Dworman, and Chris Harrison. Wireality: Enabling Complex Tangible Geometries in Virtual Reality with Worn Multi-String Haptics. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems, CHI '20, 1–10. New York, NY, USA, April 2020. Association for Computing Machinery. doi:10.1145/3313831.3376470.

R27

G. Fazzini, P. Paolini, R. Paolucci, D. Chiulli, G. Barile, A. Leoni, M. Muttillo, L. Pantoli, and G. Ferri. Print On Air: FDM 3D Printing Without Supports. In 2019 II Workshop on Metrology for Industry 4.0 and IoT (MetroInd4.0 IoT), 350–354. June 2019. doi:10.1109/METROI4.2019.8792846.

R28

Davide Fisicaro, Franca Garzotto, Mirko Gelsomini, and Francesco Pozzi. ELE - A Conversational Social Robot for Persons with Neuro-Developmental Disorders. In David Lamas, Fernando Loizides, Lennart Nacke, Helen Petrie, Marco Winckler, and Panayiotis Zaphiris, editors, Human-Computer Interaction – INTERACT 2019, Lecture Notes in Computer Science, 134–152. Cham, 2019. Springer International Publishing. doi:10.1007/978-3-030-29381-9_9.

R29

Jack Forman, Mustafa Doga Dogan, Hamilton Forsythe, and Hiroshi Ishii. DefeXtiles: 3d printing quasi-woven fabric via under-extrusion. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology, 1222–1233. ACM, 2020. doi:10.1145/3379337.3415876.

R30

Jennifer Frame, Nick Lopez, Oscar Curet, and Erik D. Engeberg. Thrust force characterization of free-swimming soft robotic jellyfish. Bioinspiration and Biomimetics, 2018. Publisher: IOP Publishing Ltd. doi:10.1088/1748-3190/aadcb3.

R31

Kevin C. Galloway, Kaitlyn P. Becker, Brennan Phillips, Jordan Kirby, Stephen Licht, Dan Tchernov, Robert J. Wood, and David F. Gruber. Soft robotic grippers for biological sampling on deep reefs. Soft Robotics, 3(1):23–33, 2016. Publisher: Mary Ann Liebert, Inc., publishers. doi:10.1089/soro.2015.0019.

R32

Qi Ge, Zhe Chen, Jianxiang Cheng, Biao Zhang, Yuan-Fang Zhang, Honggeng Li, Xiangnan He, Chao Yuan, Ji Liu, Shlomo Magdassi, and Shaoxing Qu. 3D printing of highly stretchable hydrogel with diverse UV curable polymers. Science Advances, 7(2):eaba4261, January 2021. doi:10.1126/sciadv.aba4261.

R33

J. Guo, C. Xiang, T. Helps, M. Taghavi, and J. Rossiter. Electroactive textile actuators for wearable and soft robots. In 2018 IEEE International Conference on Soft Robotics (RoboSoft), 339–343. April 2018. doi:10.1109/ROBOSOFT.2018.8404942.

R34

F. L. Hammond, Y. Mengüç, and R. J. Wood. Toward a modular soft sensor-embedded glove for human hand motion and tactile pressure measurement. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 4000–4007. September 2014. doi:10.1109/IROS.2014.6943125.

R35

T. Hassan, M. Cianchetti, B. Mazzolai, C. Laschi, and P. Dario. Active-braid, a bioinspired continuum manipulator. IEEE Robotics and Automation Letters, 2(4):2104–2110, 2017. doi:10.1109/LRA.2017.2720842.

R36

J. Hiller and H. Lipson. Automatic design and manufacture of soft robots. Robotics, IEEE Transactions on, 28(2):457–466, 2012. doi:10.1109/TRO.2011.2172702.

R37

Lindsey Hines, Kirstin Petersen, Guo Zhan Lum, and Metin Sitti. Soft Actuators for Small-Scale Robotics. Advanced Materials, 29(13):1603483, 2017. doi:10.1002/adma.201603483.

R38

Wenqi Hu, Guo Zhan Lum, Massimo Mastrangeli, and Metin Sitti. Small-scale soft-bodied robot with multimodal locomotion. Nature, 554(7690):81–85, February 2018. doi:10.1038/nature25443.

R39

Wenqi Hu, Guo Zhan Lum, Massimo Mastrangeli, and Metin Sitti. Small-scale soft-bodied robot with multimodal locomotion. Nature, 554(7690):81–85, 2018. Number: 7690 Publisher: Nature Publishing Group. doi:10.1038/nature25443.

R40

Weicheng Huang, Xiaonan Huang, Carmel Majidi, and M. Khalid Jawed. Dynamic simulation of articulated soft robots. Nature Communications, 11(1):2233, 2020. Number: 1 Publisher: Nature Publishing Group. doi:10.1038/s41467-020-15651-9.

R41

Alexandra Ion, Robert Kovacs, Oliver S. Schneider, Pedro Lopes, and Patrick Baudisch. Metamaterial Textures. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems, 1–12. Montreal QC Canada, April 2018. ACM. doi:10.1145/3173574.3173910.

R42

Alexandra Ion, David Lindlbauer, Philipp Herholz, Marc Alexa, and Patrick Baudisch. Understanding Metamaterial Mechanisms. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems, 1–14. Glasgow Scotland Uk, May 2019. ACM. doi:10.1145/3290605.3300877.

R43

Xiaobin Ji, Xinchang Liu, Vito Cacucciolo, Matthias Imboden, Yoan Civet, Alae El Haitami, Sophie Cantin, Yves Perriard, and Herbert Shea. An autonomous untethered fast soft robotic insect driven by low-voltage dielectric elastomer actuators. Science Robotics, 2019. Publisher: Science Robotics Section: Research Article. doi:10.1126/scirobotics.aaz6451.

R44

J. Jung, M. Park, D. Kim, and Y. Park. Optically sensorized elastomer air chamber for proprioceptive sensing of soft pneumatic actuators. IEEE Robotics and Automation Letters, 5(2):2333–2340, 2020. doi:10.1109/LRA.2020.2970984.

R45

Martin Kaltenbrunner, Tsuyoshi Sekitani, Jonathan Reeder, Tomoyuki Yokota, Kazunori Kuribara, Takeyoshi Tokuhara, Michael Drack, Reinhard Schwödiauer, Ingrid Graz, Simona Bauer-Gogonea, Siegfried Bauer, and Takao Someya. An ultra-lightweight design for imperceptible plastic electronics. Nature, 499(7459):458–463, July 2013. doi:10.1038/nature12314.

R46

Shuma Kanai, Yosuke Watanabe, MD Nahin Islam Shiblee, Ajit Khosla, Jun Ogawa, Masaru Kawakami, and Hidemitsu Furukawa. (Invited) Skin-Mimic Hydrogel Materials with Water-Perspiration Control for Soft Robots Developed by 3D Printing. ECS Transactions, 98(13):23, September 2020. doi:10.1149/09813.0023ecst.

R47

Hyun-Wook Kang, Sang Jin Lee, In Kap Ko, Carlos Kengla, James J. Yoo, and Anthony Atala. A 3D bioprinting system to produce human-scale tissue constructs with structural integrity. Nature Biotechnology, 34(3):312–319, March 2016. doi:10.1038/nbt.3413.

R48

Hsin-Liu Cindy Kao, Abdelkareem Bedri, and Kent Lyons. SkinWire: Fabricating a Self-Contained On-Skin PCB for the Hand. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, 2(3):116:1–116:23, September 2018. doi:10.1145/3264926.

R49

Elmer D. F. Ker, Amrinder S. Nain, Lee E. Weiss, Ji Wang, Joseph Suhan, Cristina H. Amon, and Phil G. Campbell. Bioprinting of growth factors onto aligned sub-micron fibrous scaffolds for simultaneous control of cell differentiation and alignment. Biomaterials, 32(32):8097–8107, November 2011. doi:10.1016/j.biomaterials.2011.07.025.

R50

S.-R. Kim, D.-Y. Lee, S.-J. Ahn, J.-S. Koh, and K.-J. Cho. Morphing Origami Block for Lightweight Reconfigurable System. IEEE Transactions on Robotics, pages 1–12, 2020. doi:10.1109/TRO.2020.3031248.

R51

T. Kim, S. J. Yoon, and Y. Park. Soft inflatable sensing modules for safe and interactive robots. IEEE Robotics and Automation Letters, 3(4):3216–3223, 2018. doi:10.1109/LRA.2018.2850971.

R52

N. Kohls, B. Dias, Y. Mensah, B. P. Ruddy, and Y. C. Mazumdar. Compliant electromagnetic actuator architecture for soft robotics. In IEEE International Conference on Robotics and Automation (ICRA), 9042–9049. 2020. ISSN: 2577-087X. doi:10.1109/ICRA40945.2020.9197442.

R53

Byung Ki Kong, Dae Hun Kim, and Tae Whan Kim. Significant enhancement of out-coupling efficiency for yarn-based organic light-emitting devices with an organic scattering layer. Nano Energy, 70:104503, April 2020. doi:10.1016/j.nanoen.2020.104503.

R54

R. K. Kramer, C. Majidi, and R. J. Wood. Wearable tactile keypad with stretchable artificial skin. In 2011 IEEE International Conference on Robotics and Automation, 1103–1107. May 2011. doi:10.1109/ICRA.2011.5980082.

R55

S.W. Kwok, S.A. Morin, B. Mosadegh, Ju-Hee So, R.F. Shepherd, R.V. Martinez, B. Smith, F.C. Simeone, A.A. Stokes, and G.M. Whitesides. Magnetic Assembly of Soft Robots with Hard Components. Advanced Functional Materials, 24(15):2180–7, April 2014. Place: Germany Publisher: Wiley-VCH. doi:10.1002/adfm.201303047.

R56

C. Laschi. Octobot - a robot octopus points the way to soft robotics. IEEE Spectrum, 54(3):38–43, 2017. doi:10.1109/MSPEC.2017.7864755.

R57

J. Lee and K. Cho. Development of magnet connection of modular units for soft robotics. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 65–67. June 2017. doi:10.1109/URAI.2017.7992886.

R58

J. Lee, J. Eom, W. Choi, and K. Cho. Soft LEGO: Bottom-Up Design Platform for Soft Robotics. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 7513–7520. October 2018. doi:10.1109/IROS.2018.8593546.

R59

J. Lee, W. Kim, W. Choi, and K. Cho. Soft Robotic Blocks: Introducing SoBL, a Fast-Build Modularized Design Block. IEEE Robotics Automation Magazine, 23(3):30–41, September 2016. doi:10.1109/MRA.2016.2580479.

R60

Tiefeng Li, Guorui Li, Yiming Liang, Tingyu Cheng, Jing Dai, Xuxu Yang, Bangyuan Liu, Zedong Zeng, Zhilong Huang, Yingwu Luo, Tao Xie, and Wei Yang. Fast-moving soft electronic fish. Science Advances, 3(4):e1602045, April 2017. doi:10.1126/sciadv.1602045.

R61

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