Soft materials and deformable structures have given robots the ability to stretch, squash, climb, and morph, with potential for biodegradability and self-healing.

The octopus is a marine animal whose body has no rigid structures. It has eight arms composed of a peculiar muscular structure, named a muscular hydrostat. The octopus arms provide it with both loc...

Recurrent neural networks with an unstructured redundant soft sensor topology allow robust multimodal proprioceptive capabilities.

The new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach. The model fully investigates both dynamic interaction with a dense medium and the coupled tendon condition. The model was experimentally validated with satisfactory results, using a soft robot arm working prototype inspired by the octopus arm and capable of multibending. Experimental validation was performed for the octopus most characteristic movements: bending, reaching, and fetching. The present model can be used in the design phase as a dynamic simulation platform and to design the control strategy of a continuum robot arm moving in a dense medium.