Control Strategies for Soft Robotic Manipulators: A Survey

Soft Robot. 2018 Apr;5(2):149-163. doi: 10.1089/soro.2017.0007. Epub 2018 Jan 3.


With the rise of soft robotics technology and applications, there have been increasing interests in the development of controllers appropriate for their particular design. Being fundamentally different from traditional rigid robots, there is still not a unified framework for the design, analysis, and control of these high-dimensional robots. This review article attempts to provide an insight into various controllers developed for continuum/soft robots as a guideline for future applications in the soft robotics field. A comprehensive assessment of various control strategies and an insight into the future areas of research in this field are presented.

Keywords: continuum robots; dynamic controllers; kinematic controllers; machine learning; manipulation; soft robots.

Publication types

  • Research Support, Non-U.S. Gov't