A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics

Ean Lovett; Maxwell Hammond; Niloufar Seyfi; Amirreza Fahim Golestaneh; Venanzio Cichella; Caterina Lamuta

doi:10.1002/adrr.202500085

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A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics

Journal article

Open access

Peer reviewed

A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics

Ean Lovett, Maxwell Hammond, Niloufar Seyfi, Amirreza Fahim Golestaneh, Venanzio Cichella and Caterina Lamuta

Advanced Robotics Research

08/12/2025

DOI: 10.1002/adrr.202500085

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Abstract

The growing interest in soft robotics stems from the flexibility of soft systems and their unique capacity to adapt to complex tasks that are often unachievable with rigid robots. However, this adaptability comes with significant challenges, particularly in monitoring and controlling systems that possess potentially infinite degrees of freedom. This review offers an overview of the diverse sensing and control strategies employed in soft robotics. We offer an overview of sensor characteristics used in soft robots. These sensors are categorized according to the physical quantities they detect and their specific functions, illustrating their practical applications. Additionally, we provide a comprehensive classification of the literature based on the functional roles of control strategies in soft systems—such as motion control (e.g., pose and tip controllers) and force control for tasks like grasping, manipulation, and locomotion—highlighting the central importance of real‐time sensory feedback. The survey also discusses key limitations and outlines promising directions to support the development of advanced sensing and control frameworks for next‐generation soft robots.

Details

Title: Subtitle: A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics
Creators: Ean Lovett - University of Iowa
Maxwell Hammond - University of Iowa, IIHR--Hydroscience and Engineering
Niloufar Seyfi - Department of Mechanical Engineering University of Iowa Iowa City USA
Amirreza Fahim Golestaneh - Department of Mechanical Engineering University of Iowa Iowa City USA
Venanzio Cichella - University of Iowa
Caterina Lamuta - University of Iowa
Resource Type: Journal article
Publication Details: Advanced Robotics Research
DOI: 10.1002/adrr.202500085
ISSN: 2943-9973
eISSN: 2943-9973
Language: English
Electronic publication date: 08/12/2025
Academic Unit: Roy J. Carver Department of Biomedical Engineering; IIHR--Hydroscience and Engineering; Mechanical Engineering
Record Identifier: 9984948009002771

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