SWAG Researchers Pioneer Systematic Design Framework for Soft Robotics Applications

Odysseas Simatos and Panagiotis Polygerinos of the Control Systems & Robotics Lab at SWAG partner Hellenic Mediterranean University (HMU) have introduced a standardised framework for the design and evaluation of soft inflatable fabric actuators.

Their work, presented at RoboSoft 2025 and ICRA 2025, leverages dimensional analysis to systematically characterise actuator behaviour across various types—including stiffening, bending, contracting, and elongating actuators.

Their methodology identifies the geometric ratio (width over length) as the dominant factor influencing actuator force and torque output, while material properties like elastic modulus and Poisson’s ratio have minimal impact

The ICRA poster extends this approach to soft exosuit actuator design, enabling parametric, user-specific customisation for applications such as walking and running.

By developing high-fidelity finite element models validated against experimental data, the team produced comprehensive performance maps that streamline actuator selection and optimisation, reducing the need for repeated prototyping.

This unified framework, the first of its kind in soft robotics, supports scalable, efficient, and portable actuator solutions-paving the way for broader adoption in wearable robotics and human-robot interaction.

Explore the posters for RoboSoft here and ICRA here for full details.