All dataset and codes are shared publically here


  1. Roels, E., Terryn, S., Brancart, J., Verhelle, R., Van Assche, G., & Vanderborght, B. (2020). Additive Manufacturing for Self-Healing Soft Robots. Soft Robotics.
  2. Shih, B., Shah, D., Li, J.,  Thuruthel,  T.  G., Iida, F., Park, Y.  L., Bao,  Z.,Kramer, R., & Tolley, M. T. (2019).  Electronic Skins and Machine Learning for Intelligent Soft Robots. Science Robotics 
  3. Thuruthel, T. G., Gilday K., & Iida, F. (2020). Drift-Free Latent Space Representation for Soft Strain Sensors. IEEE International Conference on Soft Robotics. 
  4. Terryn, S.; Roels, E.; Brancart, J.; Assche, G.V.; Vanderborght, B. Self-Healing and High Interfacial Strength in Multi-Material Soft Pneumatic Robots via Reversible Diels–Alder Bonds. Actuators 2020, 9, 34.
  5. George Thuruthel, T., Hughes, J., & Iida, F. Joint Entropy-based Morphology Optimization of Soft Strain SensorNetworks for Functional Robustness. IEEE Sensors Journal
  6. Georgopoulou A. and Clemens F. (2020) Piezoresistive Elastomer-Based Composite Strain Sensors and Their Applications. ACS Applied Electronic Materials, 2, 7, 1826–1842.
  7. Georgopoulou A., Sebastian T., Clemens F. (2020) Thermoplastic elastomer composite filaments for strain sensing applications extruded with a fused deposition modelling 3D printer. Flexible and Printed Electronics, 5, 035002
  8. Georgopoulou A., Kummerlöwe C., Clemens F. (2020) Effect of the Elastomer Matrix on Thermoplastic Elastomer-Based Strain Sensor Fiber Composites. Sensors20(8), 2399 
  9. George Thuruthel T, Renda F and Iida F (2020) First-Order Dynamic Modeling and Control of Soft Robots. Front. Robot. AI 7:95. doi: 10.3389/frobt.2020.00095

Previous Publications

  1. Terryn, S., Brancart, J., Lefeber, D., Van Assche, G. and Vanderborght, B., 2017. Self-healing soft pneumatic robots. Science Robotics, 2(9), p.eaan4268.
  2. Roels, E., Terryn, S., Brancart, J., Van Assche, G., & Vanderborght, B. (2019, April). A Multi-Material Self-Healing Soft Gripper. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) (pp. 316-321). IEEE.
  3. Denissen, W., Droesbeke, M., Nicolaÿ, R., Leibler, L., Winne, J.M. and Du Prez, F.E., 2017. Chemical control of the viscoelastic properties of vinylogous urethane vitrimers. Nature communications, 8, p.14857.
  4. Hughes, Josie, and Fumiya Iida. “Tactile sensing applied to the universal gripper using conductive thermoplastic elastomer.” Soft robotics 5.5 (2018): 512-526.
  5. Cordier, P., Tournilhac, F., Soulié-Ziakovic, C. and Leibler, L., 2008. Self-healing and thermoreversible rubber from supramolecular assembly. Nature, 451(7181), p.977.
  6. Montarnal, D., Capelot, M., Tournilhac, F. and Leibler, L., 2011. Silica-like malleable materials from permanent organic networks. Science, 334(6058), pp.965-968.
  7. Culha, U., Nurzaman, S., Clemens, F. and Iida, F., 2014. SVAS3: strain vector aided sensorization of soft structures. Sensors, 14(7), pp.12748-12770.
  8. Mattmann, C., Clemens, F. and Tröster, G., 2008. Sensor for measuring strain in textile. Sensors, 8(6), pp.3719-3732.
  9. Clemens, F.J., Koll, B., Graule, T., Watras, T., Binkowski, M., Mattmann, C. and Silveira, I., 2013. Development of piezoresistive fiber sensors, based on carbon black filled thermoplastic elastomer compounds, for textile application. In Advances in Science and Technology (Vol. 80, pp. 7-13). Trans Tech Publications.
  10. Terryn, S., Mathijssen, G., Brancart, J., Lefeber, D., Van Assche, G., & Vanderborght, B. (2015). Development of a self-healing soft pneumatic actuator: A first concept. Bioinspiration & biomimetics, 10(4), 046007.
  11. Terryn, S., Mathijssen, G., Brancart, J., Verstraten, T., Van Assche, G., & Vanderborght, B. (2016). Toward self-healing actuators: A preliminary concept. IEEE Transactions on Robotics, 32(3), 736-743.