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Toward Autonomous Self-Healing in Soft Robotics: A Review and Perspective for Future Research.

Seyedreza Kashef Tabrizian¹, Seppe Terryn¹, Bram Vanderborght¹

¹Brubotics Vrije Universiteit Brussel and imec 1050 Brussels Belgium.

Advanced Intelligent Systems (Weinheim an Der Bergstrasse, Germany)

|August 25, 2025

Summary

This study reviews technologies for autonomous self-healing in soft robots, crucial for environments with limited human access. It discusses five healing phases and future perspectives for fully self-sufficient robots.

Keywords:

autonomous healings damage closures damage sensors self‐healings soft robotics

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Area of Science:

Robotics
Materials Science
Polymer Science

Background:

Self-healing soft robots utilize dynamic and reversible polymer networks to restore properties after damage.
Current self-healing soft robots often require human intervention, limiting their application in inaccessible or efficiency-sensitive environments.

Purpose of the Study:

To review technologies enabling autonomous healing in soft robots across all five healing phases.
To discuss challenges and future perspectives for achieving fully autonomous self-healing in soft robotics.

Main Methods:

Discussion of the five phases of the self-healing process: damage detection, cleaning, closure, material healing, and recovery assessment.
Review of technologies for autonomous execution of each healing phase.
Analysis of physical intelligence (stimuli-responsive materials) and embodied intelligence (healing-assistive subsystems).

Main Results:

Identified five distinct phases in the self-healing process of soft robots.
Reviewed existing and potential technologies for autonomous execution of these phases.
Highlighted the integration of physical and embodied intelligence as key to autonomous healing.

Conclusions:

Autonomous self-healing in soft robots is achievable through stimuli-responsive materials and integrated healing subsystems.
Fully autonomous self-healing soft robots offer a sustainable solution for broader applications with enhanced self-sufficiency.
Overcoming integration challenges is crucial for realizing the full potential of self-healing soft robots.