Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety makes them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified.

Over the last decade, 3D bioprinting has received immense attention from research communities to bridge the divergence between artificially engineered tissue constructs and native tissues.

The main objective of this paper is to introduce complex structures with self-bending/morphing/rolling features fabricated by 4D printing technology, and replicate their thermo-mechanical behaviors using a simple computational tool. Fused deposition modeling (FDM) is implemented to fabricate adaptive composite structures with performance-driven functionality built directly into materials. Structural primitives with self-bending 1D-to-2D features are first developed by functionally graded 4D printing. They are then employed as actuation elements to design complex structures that show 2D-to-3D shape-shifting by self-bending/morphing. The effects of printing speed on the self-bending/morphing characteristics are investigated in detail. Thermo-mechanical behaviors of the 4D-printed structures are simulated by introducing a straightforward method into the commercial finite element (FE) software package of Abaqus that is much simpler than writing a user-defined material subroutine or an in-house FE code. The high accuracy of the proposed method is verified by a comparison study with experiments and numerical results obtained from an in-house FE solution. Finally, the developed digital tool is implemented to engineer several practical self-morphing/rolling structures.