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Biomimetics
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Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and...
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Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers

A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Locomotion and Bioinspired Robotics".

Deadline for manuscript submissions: 15 July 2025 | Viewed by 3704

Special Issue Editors

Dr. Babar Jamil

E-Mail Website
Guest Editor
School of Physics, Engineering and Technology, University of York, Heslington, York YO10 5DD, UK
Interests: robotics; sensors; control engineering; electrical engineering; mechanism design; system integration
Dr. Tuan Anh Luong

E-Mail Website
Guest Editor
Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea
Interests: soft robotics; manipulator; SLAM

Special Issue Information

Dear Colleagues,

The development of sustainable robotics has become increasingly important as we seek to reduce the environmental and societal impact of traditional robotic systems. Soft robotics, a rapidly growing field that uses flexible, compliant materials such as elastomers, and hydrogels, offers a unique pathway toward creating more sustainable robotic technologies. For example, by incorporating natural, biodegradable materials, utilizing self-healing properties to extend lifespan, and developing energy-efficient actuators and adaptive mechanisms, soft robots can significantly reduce resource consumption and improve overall sustainability.

This Special Issue aims to explore the latest innovations and challenges in the development of sustainable soft manipulators and grippers. These systems have the potential to revolutionize a wide range of applications, including healthcare, agriculture, and manufacturing industry, by offering more adaptable and eco-friendly solutions. Special attention of this Special Issue will be given to papers focusing on novel materials, innovative designs, sustainable fabrication methods, and advanced modeling and control techniques that improve the efficiency and sustainability of soft manipulators and grippers. We welcome cutting-edge, original approaches and ideas that drive the development of sustainable soft robotic systems. Additionally, we encourage submissions of surveys and reviews that summarize state-of-the-art practices in this field. Contributions from experts in both academia and industry worldwide are strongly encouraged.

Topics of interest include, but are not limited to, the following:

  • Soft sensors and actuators;
  • Bio-inspired robots;
  • Recyclable elastomers and polymers in soft robots;
  • Soft robots for environmental monitoring and conservation;
  • Hybrid soft robots for sustainable applications;
  • Eco-friendly fabrication techniques;
  • Soft robots for energy harvesting.

Dr. Babar Jamil
Dr. Tuan Anh Luong
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 100 words) can be sent to the Editorial Office for announcement on this website.

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. Biomimetics 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 2200 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 sensors and actuators
  • bio-inspired robots
  • recyclable elastomers and polymers in soft robots
  • soft robots for environmental monitoring and conservation
  • hybrid soft robots for sustainable applications
  • eco-friendly fabrication techniques
  • soft robots for energy harvesting

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Published Papers (4 papers)

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Research

13 pages, 4058 KiB  
Article
Development of a Cable-Driven Bionic Spherical Joint for a Robot Wrist
by Zixun He, Yutaka Ito, Shotaro Saito, Sakura Narumi, Yousun Kang and Duk Shin
Biomimetics 2025, 10(1), 52; https://doi.org/10.3390/biomimetics10010052 - 14 Jan 2025
Viewed by 1141
Abstract
Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is [...] Read more.
Wrist movements play a crucial role in upper-limb motor tasks. As prosthetic and robotic hand technologies have evolved, increasing attention has been focused on replicating the anatomy and functionality of the wrist. Closely imitating the biomechanics and movement mechanisms of human limbs is expected to enhance the overall performance of bionic robotic hands. This study presents the design of a tendon-driven bionic spherical robot wrist, utilizing two pairs of cables that mimic antagonist muscle pairs. The cables are actuated by pulleys driven by servo motors, allowing for two primary wrist motions: flexion–extension and ulnar–radial deviation. The performance Please confirm if the “1583 Iiyama” is necessary. Same as belowof the proposed robot wrist is validated through manipulation experiments using a prototype, demonstrating its capability to achieve a full range of motion for both ulnar and radial deviation. This wrist mechanism is expected to be integrated into robotic systems, enabling greater flexibility and more human-like movement capabilities. Full article
(This article belongs to the Special Issue Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers)
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16 pages, 13181 KiB  
Article
An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping
by Francisco Yumbla, Emiliano Quinones Yumbla, Erick Mendoza, Cristobal Lara, Javier Pagalo, Efraín Terán, Redhwan Algabri, Myeongyun Doh, Tuan Luong and Hyungpil Moon
Biomimetics 2025, 10(1), 26; https://doi.org/10.3390/biomimetics10010026 - 4 Jan 2025
Viewed by 844
Abstract
This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the development [...] Read more.
This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the development phase, 3D printing materials were employed in the gripper’s design, with Polylactic Acid (PLA) filament used for the rigid mechanical components and Thermoplastic Polyurethane (TPU) for the flexible membranes that distribute pressure to the resistive force sensors. Stress analysis and simulations were conducted to evaluate the performance of the components under load and to gradually refine the design of the adaptive gripper. It was ensured that the mechanism could integrate effectively with the robotic arm and be precisely controlled through a PID controller. Furthermore, the availability of spare parts in the local market was considered essential to guarantee easy and cost-effective maintenance. Tests were conducted on an actual robotic arm, and the designed gripper was able to effectively grasp objects such as a soda can and a pencil. The results demonstrated that the adaptive gripper successfully achieved various types of grasping, offering a scalable and economical solution that represents a significant contribution to the field of robotic manipulation in industrial applications. Full article
(This article belongs to the Special Issue Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers)
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15 pages, 5087 KiB  
Article
The Structural Design, Kinematics, and Workspace Analysis of a Novel Rod–Cable Hybrid Cable-Driven Parallel Robot
by Jinrun Li and Yangmin Li
Biomimetics 2025, 10(1), 4; https://doi.org/10.3390/biomimetics10010004 - 25 Dec 2024
Viewed by 624
Abstract
This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motion control. The rods emulate bones, providing foundational [...] Read more.
This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motion control. The rods emulate bones, providing foundational support, while the cables mimic muscles, driving motion through coordinated tension. This design enables planar motions with three degrees of freedom, and a structural configuration that mitigates sagging and vibration for improved stability and accuracy by introducing rigid structure. The study develops detailed kinematic models, including Jacobian analysis for motion control, and evaluates the workspace using geometric and Monte Carlo methods. Full article
(This article belongs to the Special Issue Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers)
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17 pages, 11720 KiB  
Article
A Worm-like Soft Robot Based on Adhesion-Controlled Electrohydraulic Actuators
by Yangzhuo Wu, Zhe Sun, Yu Xiang and Jieliang Zhao
Biomimetics 2024, 9(12), 776; https://doi.org/10.3390/biomimetics9120776 - 20 Dec 2024
Viewed by 813
Abstract
Worms are organisms characterized by simple structures, low energy consumption, and stable movement. Inspired by these characteristics, worm-like soft robots demonstrate exceptional adaptability to unstructured environments, attracting considerable interest in the field of biomimetic engineering. The primary challenge currently involves improving the motion [...] Read more.
Worms are organisms characterized by simple structures, low energy consumption, and stable movement. Inspired by these characteristics, worm-like soft robots demonstrate exceptional adaptability to unstructured environments, attracting considerable interest in the field of biomimetic engineering. The primary challenge currently involves improving the motion performance of worm-like robots from the perspectives of actuation and anchoring. In this study, a single segment worm-like soft robot driven by electrohydraulic actuators is proposed. The robot consists of a soft actuation module and two symmetrical anchoring modules. The actuation modules enable multi-degree-of-freedom motion of the robot using symmetric dual-electrode electrohydraulic actuators, while the anchoring modules provide active friction control through bistable electrohydraulic actuators. A hierarchical microstructure design is used for the biomimetic adhesive surface, enabling rapid, reversible, and stable attachment to and detachment from different surfaces, thereby improving the robot’s surface anchoring performance. Experimental results show that the designed robot can perform peristaltic and bending motions similar to a worm. It achieves rapid bidirectional propulsion on both dry and wet surfaces, with a maximum speed of 10.36 mm/s (over 6 velocity/length ratio (min−1)). Full article
(This article belongs to the Special Issue Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers)
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