IEEE Robotics & Automation Magazine - September 2023 - 122

freedom that will enable them to tailor and adjust material
models, external forces, actuation paths, and functions to fit
their applications and intended systems. We validated the toolbox
simulation results by comparing the analysis results with
existing literature and numerical studies. We provided four
examples to highlight the application of the toolbox in soft
robotics. SoRoSim successfully bridges the gap between soft
and traditional robotics modeling and analysis. It is an ongoing
effort and will be under constant improvement in terms of
performance, features, and GUI enhancement. We hope that
the users of SoRoSim find it beneficial and user friendly, and
we look forward to it being widely used in the research and
engineering community.
ACKNOWLEDGMENT
This work was supported, in part, by the U.S. Office of Naval
Research Global, under grant N62909-21-1-2033, and Khalifa
University of Science and Technology, under grants CIRA2020-074
and RC1-2018-KUCARS. Anup Teejo Mathew and
Ikhlas Ben Hmida are co-first authors. This article contains
supplementary material available at https://doi.org/10.1109/
MRA.2022.3202488, provided by the authors.
AUTHORS
Anup Teejo Mathew, Department of Mechanical Engineering,
Khalifa University of Science and Technology, Abu Dhabi
127788, United Arab Emirates. E-mail: anup.mathew@ku.ac.ae.
Ikhlas Ben Hmida, Department of Mechanical Engineering,
Khalifa University of Science and Technology, Abu Dhabi
127788, United Araa Emirates. E-mail: ikhlas.benhmida@ku.
ac.ae.
Costanza Armanini, Department of Mechanical
Engineering, Khalifa University of Science and Technology,
Abu Dhabi 127788, United Arab Emirates. E-mail: costanza.
armanini@ku.ac.ae.
Frederic Boyer, Laboratory of Digital Sciences of Nantes,
IMT Atlantique, Nantes 44307 France. E-mail: frederic.
boyer@imt-atlantique.fr.
Federico Renda, Department of Mechanical Engineering,
Khalifa University of Science and Technology, Abu Dhabi
127788, United Arab Emirates, and Khalifa University Center
for Autonomous Robotic Systems, Khalifa University, Abu
Dhabi 127788, United Arab Emirates. E-mail: federico.
renda@ku.ac.ae.
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