Course

Unit I

New Concepts for Distributed Actuators and Their Control, Shape Memory Alloys as Flexible Actuators, Control and Feedback Control of Distributed Actuators, Musculoskeletal Robots and Wearable Devices on the Basis of Cable-driven Actuators, Capacitive Tactile Proximity Sensing
Unit II

Modeling, Simulation and Control, Perception of Deformable Objects and Compliant Manipulation for Service Robots, Soft Robot Control with a Behavior-Based Architecture, Optimal Exploitation of Soft-Robot Dynamics, Simulation Technology for Soft Robotics Applications, Mechanics and Thermodynamics of Biological Muscle – A Simple Model Approach

Unit III

Nanostructured Materials for Soft Robotics – Sensors and Actuators, Fibrous Materials and Textiles for Soft Robotics, Opportunities and Challenges for the Design of Inherently Safe Robots, Soft Hands for Reliable Grasping Strategies, Task-specific Design of Tubular Continuum Robots for Surgical Applications, Soft Robotics Research, Challenges, and Innovation Potential, Through Showcases

Learning Objectives

LO1: To understand the principles of soft actuation, sensing, and control mechanisms.

LO2: To model and simulate the behaviour of soft robotic systems, considering compliance and
nonlinearity.

LO3: To explore the design, fabrication, and application of soft robots in wearable, service, and
medical domains.

LO4: To evaluate new materials and architectural paradigms for next-generation soft robotics.

Course Outcomes

CO1: Explain the working principles of distributed actuators, shape memory alloys, and tactile
sensors in soft robotics.

CO2: Analyze the modelling, dynamics, and control of soft and compliant robotic systems.

CO3: Simulate and evaluate soft robotic using behaviour-based and optimal control strategies.

CO4: Identify suitable smart materials for soft actuator and sensor integration.

CO5: Critically assess application-specific designs for safety, adaptability, and innovation
potential.

CO-PO Mapping

Textbook

1. Soft Robotics: Transferring Theory to Application, Alexander Verl, Alin Albu-Schäffer, Oliver Brock, Annika Raatz, Springer