11 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023 Start Link Definition Start Linkage Definition Soft Material Definition Geometry Definition No Last Division? Yes End Yes Soft Link Rigid Link Define Actuation Linkage Creation (a) Rigid Joints Soft Links Actuated? Yes No Soft Actuator Definition No End Linkage Static Analysis (b) FIGURE 3. A toolbox overview: (a) the SorosimLink creation and (b) the SorosimLinkage creation and applications. Inset: a preview of the GUI. Dynamic Analysis ControlOptimization Yes No Actuated System? No Actuated? Apply External Loads? Yes Define Loads No Apply Gravity? Yes Define G Vector Link Type? Rigid Material Definition Geometry Definition Number of Links Linkage Assembly Define Constraints Yes Constraints Present? No Links DoF Definition Decision User Input Application Stored Data Object