Towards an ontology for soft robots: what is soft?

Area of Science:

• Robotics
• Materials Science
• Ontology Engineering

Background:

• The field of soft robotics is rapidly evolving, leading to a diverse range of robots.
• Existing definitions of soft robots are insufficient to encompass the current variety of designs.
• There is a need for a standardized understanding and classification of soft robotic systems.

Purpose of the Study:

• To establish a coherent definition of 'soft' in the context of soft robotics.
• To develop a classification system for existing soft robots, forming the basis of a soft robotic ontology.
• To clarify and reconcile discrepancies in the commonly used Young's modulus ranges for soft materials.

Main Methods:

• Conducting a comprehensive literature review of soft robot descriptions.
• Analyzing various definitions to identify common characteristics and establish a coherent meaning for 'soft'.
• Developing a classification framework for soft robots based on literature analysis and material properties.

Main Results:

• A refined definition of soft robotics is proposed, accommodating a wider range of existing robots.
• A novel classification system for soft robots is presented, facilitating the development of a soft robotic ontology.
• Discrepancies in Young's modulus ranges for soft materials are explained, with visual comparisons and supporting data provided.

Conclusions:

• The proposed definition and classification enhance the understanding and standardization of soft robotics.
• The developed ontology framework will aid in future research and development of soft robotic systems.
• Clarification of material property criteria, such as Young's modulus, supports informed material selection in soft robot design.