Non-Skeletal Soft Robots for Practical Application

Abstract

 Soft robotics, particularly systems based on non-skeletal structures, has captivated the research community with its potential for high shape adaptability. This compliance raises expectations for revolutionary applications in unstructured environments and safe human-robot interaction, among other things. However, a significant gap persists between this academic excitement and real-world industrial deployment, often attributed to perceived performance limitations, namely, insufficient force output and a lack of high precision.

 This workshop confronts a central question: Are these challenges fundamental, intrinsic limitations?

 We will discuss the essential elements for practical operation, focusing on three core themes: the modeling and control for the operation, component technologies for systemization, and the configuration of next-generation non-skeletal soft robots.

 Regarding modeling and control, modeling these infinite-DoF, non-linear systems is fundamentally difficult. As current analysis remains insufficient, hindering prediction and control, we will focus on the modeling indispensable for understanding and controlling them.

 Regarding component technologies for systemization, actuation alone is insufficient. We must adopt a holistic systems perspective, addressing realistic challenges like power sources (e.g., compressor) and robust sensor integration (e.g., mounting on flexible bodies). 

 Regarding next-generation structures, we will explore the boundary between non-skeletal and skeletal systems. Non-skeletal structures require new developments, so we will discuss structural designs based on insights such as these flexible design shown by bio-inspiration.

 We will invite researchers active in these fields. A mid-workshop poster session for young researchers and a concluding panel discussion will promote collaboration and consider a future roadmap.