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Soft Robotics

Soft Robotics


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About the Book

A comprehensive, cutting-edge treatment of soft robotics that brings conceptual structure to this fast-moving field. A comprehensive, cutting-edge treatment of soft robotics that brings conceptual structure to this fast-moving field. Soft robotics is quickly transforming corners of our world, but as yet there has been no comprehensive treatment of the young field. Filling this gap, Soft Robotics offers a systematic approach to learning the subject's essential ideas, methods, and techniques. Cecelia Laschi takes a holistic view that integrates interdisciplinary material and provides a conceptual structure that can withstand the discipline's fast-paced evolution. Laschi first presents robotics basics and the commonly used bioinspired methods before covering materials and technologies for actuation and sensing, modeling internal and external interactions, and soft robot control with model-based and learning-based approaches. Written by a pioneer of the field and honed by classroom experience, this timely textbook is an essential roadmap for anyone studying soft robotics. Comprehensive, structured coverage of soft robotics, from fundamentals to advanced techniques Pragmatic modular structure adapts to different curricula Suitable for advanced undergraduates, graduate students, and professionals Instructor resources include slides, videos, and exercises

Table of Contents:
Foreword Preface Acknowledgments 1 Introduction to Soft Robotics Chapter Objectives 1.1 Overview 1.2 Why Soft Robotics? 1.3 What Is Soft Robotics? 1.4 Brief History of Soft Robotics 1.5 Challenges and Milestones in Soft Robotics 1.5.1 What Materials for Soft Robotics? 1.5.2 How to Make a Piece of Soft Material Move? 1.5.3 How to Model a Soft Body? 1.5.4. How to Control a Soft Robot? 1.6 What’s Next in Soft Robotics? 1.7 Summary Self-Assessment Questions Further Readings On Soft Robotics and Embodied Intelligence On Soft Robotics Technologies and Materials On Soft Robot Modeling and Control 2 Robotics Basics Chapter Objectives 2.1 Overview 2.2 Robot Mechanics 2.3 Robot Proprioceptive Sensors 2.3.1 Mechanical Switches 2.3.2 Optical Encoders 2.3.3 Potentiometers 2.3.4 Hall-Effect Sensors 2.4 Robot Control 2.4.1 Single Joint Control 2.4.2 Joint Space Control 2.4.3 Task Space Control 2.5 Robot Exteroceptive Sensors 2.5.1 Robot Vision 2.5.2 Force/Torque Sensors for Robots 2.5.3 Robot Tactile Perception 2.5.4 Distance Sensors in Robotics 2.6 Robot Architectures 2.6.1 Hierarchical Architectures 2.6.2 Reactive Architectures 2.6.3 Hybrid Architectures 2.7 Summary Self-Assessment Questions Further Readings 3 Bioinspiration and Biomimetics Chapter Objectives 3.1 Overview 3.2 Why Bioinspiration and Biomimetics? 3.3 What Are Bioinspiration and Biomimetics? 3.3.1 Hook-and-Loop 3.3.2 Lotus-Inspired Painting 3.3.3 Shinkansen Bullet Train 3.3.4 Eiffel Tower 3.3.5 Geckos and Robots 3.4 Brief History of Bioinspiration and Biomimetics 3.4.1 Ante-Litteram Bioinspiration and Biomimetics 3.4.2 Birth and Growth of the Field 3.5 Biorobotics 3.6 Simplexity 3.7 Embodied Intelligence 3.8 Bioinspired Principles in Control: Neurocontrollers 3.9 A Methodology for Biorobotics 3.10 Summary Self-Assessment Questions 4 Soft Robotics Technologies Chapter Objectives 4.1 Overview 4.2 Materials for Soft Robotics 4.2.1 Material Properties 4.2.2 Soft Materials for Soft Robots 4.3 Actuation Technologies for Soft Robotics 4.3.1 Tendon-Driven Actuation of Soft Robots 4.3.2 Fluidic Actuation in Soft Robotics 4.3.3 Electro-Active Polymers as Soft Robot Actuators 4.3.4 Shape-Memory Alloys and Polymers 4.4 Stiffening Technologies for Soft Robotics 4.5 Sensing Technologies for Soft Robotics 4.5.1 Resistive Soft Sensors 4.5.2 Electro-Active Polymers as Soft Robot Sensors 4.5.3 Magnetic Phenomena for Soft Sensors 4.5.4 Optical Principles for Soft Sensors 4.5.5 Electrical Impedance Tomography (EIT) 4.6 Deformable Structures 4.7 Summary Self-Assessment Questions Further Readings On Material Mechanical Behavior On Soft Actuation Technologies On Stiffening Technologies On Soft Sensing Technologies On Metamaterials and Origami Robots On Tensegrity Structures 5 Soft Robot Modeling Chapter Objectives 5.1 Overview 5.2 One Equation for Modeling Soft Robots 5.3 Modeling Internal Interactions 5.3.1 Three-dimensional (3D) Continuum Solid Mechanics Models 5.3.2 Rod Models 5.3.3 Finite Parameterization Models 5.4 Modeling External Interactions 5.4.1 Continuum Fluid Mechanics Models 5.4.2 Lumped Parameter Fluid Models 5.4.3 Continuum Solid Mechanics Models 5.4.4 Lumped Parameter Solid Models 5.5 Reduced-Order Models 5.6 Data-Driven Approaches 5.7 Summary Self-Assessment Questions Further Readings On Basics of Solid Mechanics On Rod Models On Data-Driven Methods and Reduced-Order Models On Soft Robot Simulators 6 Soft Robot Control Chapter Objectives 6.1 Overview 6.2 Soft Robot Control Problems 6.3 Soft Robot Controllers 6.3.1 Joint Space Control 6.3.2 Task Space Control 6.4 Soft Robot Neuro-Controllers 6.5 Summary Self-Assessment Questions Further Readings On Soft Robot Control On Neural Networks 7 Soft Robotics in Practice Chapter Objectives 7.1 Overview 7.2 Bioinspired Principles 7.2.1 Octopus Basics 7.2.2 Reaching and Fetching 7.2.3 Underwater Legged Locomotion 7.2.4 Pulsed-Jet Swimming 7.3 Materials, Actuators, Sensors 7.3.1 Materials 7.3.2 Tendon-Driven Actuation 7.3.3 EAP as Artificial Longitudinal and Transverse Muscles 7.3.4 SMA Springs as Artificial Longitudinal and Transverse Muscles 7.4 Modeling Internal and External Interactions 7.5 Model-Based and Learning-Based Control 7.6 Summary Self-Assessment Questions Further Readings On Octopus Bioinspiration On Octopus-like Robot with Tendon-driven Actuation On Octopus-like Robot with EAP Actuation On Octopus-like Robot with SMA Actuation On Cosserat’s Models of Octopus-like Robot On Pulsed-Jet Swimming Modeling On Model-Based and Learning-Based Control On U-SLIP Model 8 Conclusions Chapter Objectives 8.1 Overview 8.2 Our Journey in Soft Robotics 8.3 Soft Robot Abilities 8.3.1 Soft Robot Manipulation 8.3.2 Soft Robot Locomotion 8.3.3 Growing Robots 8.3.4 Self-Healing Robots 8.3.5 Biodegradable Robots 8.3.6 Biohybrids 8.4 Soft Robot Applications 8.4.1 Biomedical Applications of Soft Robots 8.4.2 Soft Robots in Industry 8.4.3 Underwater Soft Robots 8.4.4 Space Soft Robotics 8.5 A Vision for Future Soft Robots Self-Assessment Questions Further Readings On Soft Robot Abilities On Biomedical Soft Robots On Wearable Soft Robots On Underwater Soft Robots—and More On Vision for Future Soft Robots Notes References Index

About the Author :
Cecilia Laschi is Provost's Chair Professor of Robotics at the National University of Singapore, where she leads the Soft Robotics Lab and she is the Director of the NUS Advanced Robotics Centre. She pioneered the field of soft robotics and serves as Editor-in-Chief of Bioinspiration & Biomimetics and member of the editorial board of Science Robotics.


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Product Details
  • ISBN-13: 9780262049740
  • Publisher: MIT Press Ltd
  • Publisher Imprint: MIT Press
  • Height: 254 mm
  • No of Pages: 138
  • Returnable: Y
  • ISBN-10: 0262049740
  • Publisher Date: 02 Sep 2025
  • Binding: Hardback
  • Language: English
  • Returnable: Y
  • Width: 178 mm


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