CITATION.cff

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  type: article
  authors:
  - given-names: Brandon
    family-names: Caasenbrood
    email: b.j.caasenbrood@gmail.com
    affiliation: Eindhoven University of Technology
    orcid: 'https://orcid.org/0000-0002-6299-1730'
  - given-names: 'Henk '
    family-names: Nijmeijer
    email: h.nijmeijer@tue.nl
    affiliation: Eindhoven University of Technology
  - given-names: Alexander
    family-names: Pogromsky
    email: a.porgromski@tue.nl
    affiliation: Eindhoven University of Technology
  doi: "10.1109/ACCESS.2024.3357351"
  journal: "IEEE Access"
  title: "Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots"
  volume: 12
  start: 17604
  end: 17638
  year: 2024
repository-code: 'https://github.com/BJCaasenbrood/SorotokiCode'
url: 'https://bjcaasenbrood.github.io/SorotokiCode'
abstract: >-
  In this paper, we present Sorotoki, an open-source
  toolkit in MATLAB that offers a comprehensive suite of
  tools for the design, modeling, and control of soft
  robots. The complexity involved in researching and
  building soft robots often stems from the
  interconnectedness of design and control aspects, which
  are rarely addressed together as a unified problem. To
  address such complex interdependencies in soft robotics,
  the Sorotoki toolkit provides a comprehensive and
  modular programming environment composed of seven
  Object-Oriented classes. These classes are designed to
  work together to solve a wide range of soft robotic
  problems, offering versatility and flexibility for its
  users. We provide here a comprehensive overview of the
  Sorotoki software architecture to highlight its usage
  and applications. The details and interconnections of each
  module are thoroughly described, collectively explaining
  how to gradually introduce modeling complexity for various
  soft robotic scenarios. The effectiveness of Sorotoki is
  also demonstrated through a range of case studies,
  including novel problem scenarios and established works
  widely recognized in the soft robotics community. These
  case studies cover a broad range of research problems,
  including: inverse design of soft actuators, passive and
  active soft locomotion, object manipulation with soft
  grippers, meta-materials, model reduction, model-based
  control of soft robots, and online shape estimation.
  Additionally, the toolkit provides access to four
  open-hardware soft robotic systems that can be fabricated
  using commercially available 3D printers. For more
  information about Sorotoki, readers are encouraged to
  visit: https://bjcaasenbrood.github.io/SorotokiCode
keywords:
  - soft robotics
  - software
  - design
  - modeling
  - control
  - matlab
license: MIT