A Review of Polymer- and Elastomer-Based Soft Robotics: From Materials and Actuators to Locomotion and Navigation
Subject Areas :
Ali Esmailli
1
,
Mohammad Hossein Khalesi
2
,
Mohammadreza Doostmohammadian
3
1 - Semnan University
2 -
3 - Semnan University
Keywords: Soft robotics, Polymeric and elastomeric materials, Multimodal locomotion, Continuum robots, Autonomous navigation,
Abstract :
Soft robotics, utilizing polymeric and elastomeric materials, continuous bodies, and inherent flexibility, has created a new paradigm in automation, offering unparalleled adaptability and safety in unpredictable environments. This systematic review analyzes recent advances from four interconnected perspectives: materials and actuators, locomotion patterns, navigation strategies, and future horizons. First, polymer- and elastomer-based soft actuators—including elastomeric pneumatics, dielectric elastomers, ionic electroactive polymers, biocompatible polymer hydrogels, and magnetic polymer matrices—together with multi-material additive manufacturing and programmable polymers with intrinsic responsiveness, have enabled the integration of sensing and actuation. Second, polymer and elastomer robots, using nature-inspired mechanisms, demonstrate multimodal locomotion in complex environments, from crawling and jumping on land with electrohydraulic shells, to fish-like swimming with polymer fins, jet propulsion with elastomeric chambers, and flapping-wing flight with flexible wings. Third, path planning algorithms, configuration control, and real-time shape sensing have empowered polymer continuum robots with autonomous and precise navigation in cluttered environments. Remaining challenges include wireless power supply, development of multifunctional polymers that simultaneously offer strength, biocompatibility, and self-healing, adaptive control, and standardization. The convergence of soft robotics with artificial intelligence and polymer engineering promises a generation of robots that blur the boundary between machine and living organism.
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