Preface	5
	Contents	7
	Part I Outline	9
	1 Introduction	10
	2 Abstracts	12
	Part II Sensors and Actuators	24
	3 New Concepts for Distributed Actuators and Their Control	25
	3.1 Introduction	25
	3.2 Shape Memory Alloys as Flexible Actuators	27
	3.2.1 Basics	27
	3.2.2 Control Design	29
	3.2.3 Structural Integration	31
	3.3 Control and Feedback Control of Distributed Actuators	34
	3.4 Conclusions and Outlook	37
	3.5 References	37
	4 Artificial Muscles, Made of Dielectric Elastomer Actuators A Promising Solution for Inherently Compliant Future Robots	39
	4.1 Drawbacks of Prevailing Robotic Actuators	39
	4.2 Benefits of DEAs in Soft Robotics	41
	4.2.1 Capability of Energy Recuperation	41
	4.2.2 Intrinsic Compliance and Adaptability	42
	4.2.3 Outstanding Power-to-Weight Ratio	42
	4.2.4 Capability of Self-sensing	42
	4.2.5 Noiseless Actuation	43
	4.3 Current Research Efforts	43
	4.3.1 Manufacturing Artificial Muscles Based on DEA	43
	4.3.2 Lightweight Power Electronics	45
	4.4 Summary and Future Challenges	46
	4.5 References	46
	5 Musculoskeletal Robots and Wearable Devices on the Basis of Cable-driven Actuators	48
	5.1 Introduction	48
	5.2 Short State of the Art: From Musculoskeletal Robots to Wearable Devices	49
	5.3 The Myorobotics Toolkit	51
	5.3.1 Overview	51
	5.3.2 Design Primitives Library (DPL)	52
	5.4 Wearable Cable-Driven Robots	54
	5.4.1 Requirements and Structure of a Body Worn Lifting Aid	55
	5.4.2 Body Worn Lifting Aid	56
	5.5 References	57
	6 Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction	60
	6.1 Introduction	60
	6.2 Signal Processing and Feature Extraction	61
	6.2.1 Tracking	63
	6.2.2 Task and Environment Contexts for Feature Extraction	63
	6.3 Applications	65
	6.3.1 Proximity Servoing	65
	6.3.2 Preshaping	66
	6.3.3 Combined Haptic and Proximity-Based Exploration	68
	6.4 Conclusions and Future Work	68
	6.5 References	70
	Part III Modeling, Simulation and Control	72
	7 Perception of Deformable Objects and Compliant Manipulation for Service Robots	73
	7.1 Introduction	73
	7.2 Compliant Control for Service Robots	74
	7.2.1 Compliant Task-Space Control	75
	7.2.2 Applications of Compliant Control in Everyday Environments	77
	7.2.3 Public Demonstrations	79
	7.3 Object Manipulation Skill Transfer	80
	7.3.1 Efficient RGB-D Deformable Registration	80
	7.3.2 Skill Transfer through Shape Matching	81
	7.3.3 Results	82
	7.4 Conclusions	83
	7.5 References	83
	8 Soft Robot Control with a Behaviour-Based Architecture	85
	8.1 Introduction	85
	8.2 The Behaviour-based Architecture iB2C	86
	8.2.1 Design of Complex Behaviour Networks	88
	8.2.2 Oscillation Detection in Behaviour Networks	89
	8.2.3 Verification of Behaviour Networks	90
	8.3 Soft Control with the iB2C	92
	8.4 Conclusion and Future Work	93
	8.5 References	94
	9 Optimal Exploitation of Soft-Robot Dynamics	96
	9.1 Introduction	96
	9.2 Problem Formulation	97
	9.3 Optimal Controls for Constrained Deflection	98
	9.4 Experiments	101
	9.5 Conclusion	102
	9.6 References	102
	10 Simulation Technology for Soft Robotics Applications	104
	10.1 Introduction	104
	10.2 State of the Art	105
	10.2.1 Simulation in “Classical” Robotics	106
	10.2.2 Simulation in Soft Robotics	107
	10.3 The Basic Concepts of eRobotics	109
	10.3.1 3D Simulation-Based Development	109
	10.3.2 The Virtual Testbed Approach	109
	10.4 Integrating Simulation Algorithms	112
	10.4.1 Multi-Domain Modeling with Bond Graphs	113
	10.4.2 Multi-Domain Modeling by Integrating Single-Domain Tools	114
	10.5 Simulation of Actuated and Controlled Manipulators	115
	10.5.1 Simulation of Compliant Robots	116
	10.5.2 Generation of a Compliant Trajectory	116
	10.5.3 Torque-Based Tracking of the Compliant Trajectory	117
	10.5.4 Drive Train Modeling and Simulation	117
	10.5.5 Torque Control	117
	10.6 Applications	118
	10.6.1 FESTO Bionic Handling Assistant	118
	10.6.2 Soft Physical Human Robot Interaction	118
	10.6.3 Terramechanics	120
	10.7 Conclusions and Outlook	120
	10.8 References	121
	11 Concepts of Softness for Legged Locomotion and Their Assessment	124
	11.1 Biomechanics of Legged Locomotion	124
	11.2 Legged Locomotion in Robotics	126
	11.3 Biomechanical Concepts for Legged Locomotion	128
	11.4 Radial and Tangential Leg Function	129
	11.5 Leg Segmentation and Multi-Joint Structures	131
	11.6 From Biomechanical Concepts to Robots	131
	11.7 Assessment of Locomotor Function in Biomechanics and Robotics	133
	11.8 Outlook	134
	11.9 References	135
	12 Mechanics and Thermodynamics of Biological Muscle A Simple Model Approach	138
	12.1 The Biological Muscle Drives the Animal Motion	138
	12.2 The Biological Muscle’s Various Design Features	139
	12.2.1 The Biological Muscle’s Passive Mechanic Characteristics	139
	12.2.2 Active Muscle and Stability	141
	12.2.3 Mechanical Efficiency and Thermodynamic Enthalpy Rate	143
	12.3 Designing a Technical Actuator from the Biological Prototype	144
	12.4 Next Generation of Bio-inspired and Bio-like Actuators	145
	12.5 References	146
	Part IV Materials, Design and Manufacturing	149
	13 Nanostructured Materials for Soft Robotics – Sensors and Actuators	150
	13.1 Introduction	150
	13.2 Actuators	152
	13.3 Touch Sensors	156
	13.4 Conclusions and Perspectives	158
	13.5 References	158
	14 Fibrous Materials and Textiles for Soft Robotics	160
	14.1 Introduction	160
	14.2 Fibrous Materials: Properties and Architecture	161
	14.3 Functionalization Made Possible by New Textile Processing Technologies	163
	14.4 Light-Weight-Structures for Robots	166
	14.5 Adaptive and Intelligent Structures	170
	14.6 Soft Robot Surface Design and Surface Functionalization	174
	14.7 Conclusion	175
	15 Opportunities and Challenges for the Design of Inherently Safe Robots	176
	15.1 Introduction	176
	15.2 State of the Art in Soft Robotics	177
	15.3 Design of Soft Robots with Variable Stiffness	178
	15.4 Concepts	182
	15.5 Summary and Outlook	184
	15.6 References	184
	16 Aspects of Human Engineering – Bio-optimized Design of Wearable Machines	187
	16.1 Introduction	187
	16.1.1 The Challenge	187
	16.1.2 Prevalence	188
	16.2 Designing a Wearable Robot: State of the Art	189
	16.2.1 Different Types of Exoskeletons	189
	16.2.2 Power and Drives	190
	16.2.3 Detection of User Intention	191
	16.2.4 Human Anatomy	193
	16.3 Therapy and Rehabilitation	197
	16.4 Physical Prevention and Force Assistance	197
	16.5 Vision: Auxiliary Assistance	198
	16.6 References	199
	17 3D Printed Objects and Components Enabling Next Generation of True Soft Robotics	201
	17.1 Introduction	201
	17.1.1 Additive Manufacturing (AM) as a Manufacturing Technology forSoft-Robotic-Systems	202
	17.1.2 The Production Processes	202
	17.1.3 The Term Robot and its Newly Added Additive Components	203
	17.1.4 Integrated Functional Components	203
	17.1.5 Soft Actuator Systems	205
	17.1.6 Fabrication of Soft Objects Including Endless Fibers	208
	17.2 Discussion and Outlook	210
	17.3 References	211
	Part V Soft Robotic Applications	212
	18 Soft Hands for Reliable Grasping Strategies	213
	18.1 Introduction	213
	18.2 Exploiting Constraints	214
	18.3 Requirements to Hardware	216
	18.4 PneuFlex Actuators	217
	18.5 Anthropomorphic Soft Hand Prototype	218
	18.6 Example Implementation of a Grasping Strategy	219
	18.7 Used Interactions	220
	18.8 Limitations	222
	18.9 Discussion	222
	18.10 References	223
	19 Task-specific Design of Tubular Continuum Robots for Surgical Applications	224
	19.1 Introduction	224
	19.2 Continuum Robots with Tubular Structure	225
	19.2.1 Kinematic Structure	225
	19.2.2 Kinematic Modelling	225
	19.2.3 Component Tube Parameters	226
	19.3 Task-specific Design	226
	19.3.1 Design Heuristics	227
	19.4 Computational Design Optimization	228
	19.5 Discussion and Outlook	230
	19.6 References	231
	20 Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction	233
	20.1 Introduction	233
	20.2 Compliant Actuation	234
	20.2.1 Floating Spring Joint (FSJ)	235
	20.2.2 Flexible Antagonistic Spring Element (FAS)	236
	20.2.3 Bidirectional Antagonism with Variable Stiffness (BAVS)	237
	20.3 Electronics and System Architecture	238
	20.4 Hand Design and Control	239
	20.5 Modeling Soft Robots	241
	20.6 Cartesian Stiffness Control	242
	20.6.1 Cartesian Impedance Control	242
	20.6.2 Independent Position and Stiffness Control	244
	20.7 Optimal Control	246
	20.8 Collision Detection and Reaction	247
	20.8.1 Reactions	247
	20.8.2 Reflexes	249
	20.9 Cyclic Motion Control	250
	20.10 Conclusion	252
	20.11 References	252
	21 Soft Robotics Research, Challenges, and Innovation Potential, Through Showcases	257
	21.1 Introduction: The Need for Soft Robots	257
	21.2 The Challenges for Soft Robotics, Through the Octopus Showcase	258
	21.2.1 Biological Insights	258
	21.2.2 Soft Actuation Technologies	260
	21.2.3 Soft Robot Modeling and Control	260
	21.2.4 Integration and Validation of an Octopus-like Robot	261
	21.3 Soft Robots at Work	261
	21.3.1 Biomedical Applications of Soft Robotics: Octopus-derived Technologies in Surgery	261
	21.3.2 Soft Robots in Explorations: An Octopus-like Underwater Robot	262
	21.3.3 Soft Grippers for Manufacturing	263
	21.4 Conclusions	263
	21.5 References	264
	22 Flexible Robot for Laser Phonomicrosurgery	267
	22.1 Introduction	267
	22.2 Phonomicrosurgery	267
	22.3 System Design	270
	22.3.1 Design Specifications and Constraints	270
	22.3.2 Flexible Sections, Actuation Unit, and Control	270
	22.4 Results	271
	22.5 Conclusions	272
	22.6 References	272
	23 Soft Components for Soft Robots	274
	23.1 Introduction: What Kind of Softness?	274
	23.2 Actuators for Soft Robots	275
	23.2.1 Actuators for Multi-DoF Designs	275
	23.2.2 Pneumatic Artificial Muscles (PAMs)	275
	23.2.3 Smart Material-Based Actuators	276
	23.3 Soft Sensors	277
	23.3.1 Soft Geometry for “Hard” Conductor	277
	23.3.2 Conductive Material	278
	23.3.3 Discrete Sensors in Soft Matrix for Distributed Sensing	278
	23.4 Conclusions	280
	23.5 References	281
	24 Soft Robotics for Bio-mimicry of Esophageal Swallowing	284
	24.1 Introduction	284
	24.2 Interdisciplinary Specifications	285
	24.3 Actuator Design and Manufacture	286
	24.4 Experimental Characterization	288
	24.4.1 Manometry Method and Findings	289
	24.4.2 Articulography Method and Findings	290
	24.5 Discussion and Conclusion	292
	24.6 References	292