Advancements in soft robotics: materials, actuation, modeling, and applications

Soft robotics is a rapidly evolving field that leverages compliant and deformable materials to create robotic systems capable of safe human interaction, environmental adaptability, and bio-inspired motion. Unlike rigid robots, soft robots rely on flexible structures and advanced actuation mechanisms, enabling applications across healthcare, industrial automation, and exploration. This review analyzes recent advancements in soft robotics with a focus on material selection, actuation strategies, computational modeling approaches, and prevailing challenges. Progress in smart materials such as elastomers, hydrogels, and shape-memory alloys has significantly enhanced robotic performance, while actuation methods including pneumatic, hydraulic, and stimulus-responsive mechanisms have enabled versatile and lifelike motion. Finite element method–based computational models have proven effective in simulating and optimizing soft robotic behavior. Despite these advances, challenges related to material durability, control complexity, and fabrication constraints remain, and addressing these limitations will be critical for the development of robust, adaptive, and intelligent soft robotic systems for practical applications.