During this project, we developed new concepts to power and control soft robots without relying on bulky electronics or external tethers, with the ultimate goal of enabling fully autonomous soft robotic systems. Soft robots are inherently safe, adaptable, and well-suited for interaction with humans and complex environments, but their broader application has been limited by inefficient actuation and the difficulty of embedding control and power. To address these challenges, we explored an alternative paradigm in which sensing, control, and energy generation are integrated directly within the robot body using fluidic circuits.
We established new experimental methods, computational models, and general design principles to guide the development of these systems. A central achievement is the development of fluidic control architectures based on hysteretic valves and kinked tubes, which enable sequential actuation, programmable behavior, and memory without electronics. These concepts were implemented in soft robotic platforms that can be steered, switch between different motion states, and respond to environmental interactions, demonstrating early forms of embodied intelligence.
In parallel, we introduced a sensing strategy in which soft actuators themselves function as sensors by exploiting their pressure–volume response. This approach allows soft robots to detect properties such as size, shape, and stiffness without additional components, greatly simplifying system design and improving robustness.
To address energy efficiency, we investigated the performance of soft actuators and developed a method to characterize efficiency, allowing us to improve the effect of material and design on the energy efficiency of soft actuators. We also created new chemical power sources that generate pressure through controlled reactions, enabling untethered operation. These power concepts were integrated with a silicone-based 3D printing platform, allowing the fabrication of fully soft robotic systems with embedded sensing, control, and actuation.
The project has resulted in multiple high-impact publications, including papers in Science, Nature Communications, and Science Advances, as well as several functional demonstrators of autonomous soft robots. Beyond academic impact, the work has attracted strong interest from industry and societal partners, particularly in sensing technologies, healthcare applications, sustainable architectural applications and educational tools. Dissemination activities include conference presentations, workshops, collaborations, and the development of an open modular toolkit for soft fluidic circuits.
Overall, this project establishes a new paradigm in soft robotics, where intelligence and functionality are embedded directly in the physical system, paving the way for fully autonomous soft machines capable of operating in real-world environments.
