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Actuators
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Actuation and Sensing of Intelligent Soft Robots—2nd Edition
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Actuation and Sensing of Intelligent Soft Robots—2nd Edition

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: 20 August 2026 | Viewed by 876

Special Issue Editor

Prof. Dr. Guanbin Gao

E-Mail Website
Guest Editor
Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
Interests: kinematic calibration and error compensation of industrial robots; human–robot interaction (HRI); rehabilitation robotics; bio-inspired robotic design
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The field of intelligent soft robotics has experienced significant growth due to its potential to revolutionize applications in healthcare, industrial automation, wearable devices, and environmental exploration. Soft robots, characterized by their compliance, adaptability, and safe interaction with humans and unstructured environments, require innovative actuation and sensing technologies to achieve precise control, high responsiveness, and functional versatility.

This Special Issue aims to provide a platform for the latest research and developments in soft actuation mechanisms (such as pneumatic, hydraulic, and electroactive polymers and shape memory alloys) and advanced sensing technologies (including flexible sensors, bio-inspired systems, embedded devices, and sensor fusion techniques). We are particularly interested in studies addressing the challenges of integrating actuation and sensing systems, enhancing the autonomy of soft robots, and improving modeling, control, and real-time feedback in dynamic environments.

We welcome original research articles, reviews, and case studies covering theoretical advancements, experimental studies, novel designs, and practical applications of intelligent soft robotics. Contributions that bridge the gap between fundamental research and real-world applications are especially encouraged.

This Special Issue will serve as a valuable platform for researchers and practitioners working at the intersection of robotics, material science, control systems, and artificial intelligence.

Prof. Dr. Guanbin Gao
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 250 words) can be sent to the Editorial Office for assessment.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • intelligent soft robots
  • soft actuation mechanisms
  • flexible and embedded sensors
  • bio-inspired robotics
  • sensor fusion and data integration
  • soft robotic control and modeling
  • human–robot interaction (HRI)
  • shape memory alloys and electroactive polymers
  • pneumatic and hydraulic actuators
  • wearable robotics and assistive devices

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Published Papers (3 papers)

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Research

19 pages, 3273 KB  
Article
A Comprehensive Analysis of Human–Machine Interaction: Teaching Pendant vs. Gesture Control in Industrial Robotics
by Robert Kristof, Valentin Ciupe, Erwin-Christian Lovasz and Ghadeer Ismael
Actuators 2026, 15(4), 210; https://doi.org/10.3390/act15040210 - 8 Apr 2026
Abstract
In collaborative robotics, efficiency and user experience play a central role. This study looks at how perceived performance differs from measured performance when comparing two ways of controlling industrial robots: traditional teaching pendants and wearable EMG-based gesture control. A Myo Armband was used [...] Read more.
In collaborative robotics, efficiency and user experience play a central role. This study looks at how perceived performance differs from measured performance when comparing two ways of controlling industrial robots: traditional teaching pendants and wearable EMG-based gesture control. A Myo Armband was used as an accessible 8-channel EMG platform, and three experiments were carried out on a Universal Robots UR10e to test pick-and-place tasks and precision positioning. Time and accuracy data were gathered together with blind feedback from 13 participants through a multi-criteria analysis framework. Even though the teaching pendant turned out to be more accurate in every scenario, 85% of participants still rated gesture control higher in overall satisfaction. These results point to a notable gap between what users perceive and how they actually perform and suggest that user experience deserves more weight in the design of future robot control interfaces. Full article
(This article belongs to the Special Issue Actuation and Sensing of Intelligent Soft Robots—2nd Edition)
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24 pages, 6361 KB  
Article
A Novel Type of Pneumatic Rotary Positioner Using Three-Phase Pressure Commutation
by Valentin Ciupe, Robert Kristof and Ghadeer Ismael
Actuators 2026, 15(4), 192; https://doi.org/10.3390/act15040192 - 31 Mar 2026
Viewed by 212
Abstract
This paper presents the design, simulation, and experimental validation of a novel type of pneumatic rotary positioner that is based on a three-cylinder radial mechanism driven by independently controlled pressures. The system uses standard off-the-shelf industrial components, including pneumatic cylinders, proportional pressure regulators, [...] Read more.
This paper presents the design, simulation, and experimental validation of a novel type of pneumatic rotary positioner that is based on a three-cylinder radial mechanism driven by independently controlled pressures. The system uses standard off-the-shelf industrial components, including pneumatic cylinders, proportional pressure regulators, and a programmable logic controller. In order to obtain angular positioning, a three-phase sinusoidal pressure commutation scheme is adopted, similar to the three-phase electrical motors. Analytical expressions for piston kinematics and torque generation are derived and used to design direct open-loop, open-loop with friction compensation, and closed-loop position control strategies. The technical implementation, with the prototype tested unloaded, can achieve accurate positioning (±3° in open-loop mode with feedforward to ±0.3° in closed-loop mode with PD controller), with very good repeatability on average (<0.5°) and smooth theoretical torque (average 1.4 Nm, with 0.51% ripple) at low speeds (<60 rpm). The experimental prototype was designed as a compact device, having approx. 94 mm diameter and 110 mm depth. When used in open-loop mode, the actuator is connected to the control system using just three pneumatic tubes and thus is completely free of any electromagnetic fields, making it suitable for some environment-critical applications. These advantages promote the proposed positioner as a practical rotary actuator in specialized automation and robotics applications where established electrical servomotors cannot be used. Full article
(This article belongs to the Special Issue Actuation and Sensing of Intelligent Soft Robots—2nd Edition)
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32 pages, 10783 KB  
Article
A Collaborative Robot-Based Approach for Automated 3D Shape Inspection of Complex Parts
by Keqing Lu, Kaifu Wang, Junhua Lu, Chuanyong Wang, Zhanfeng Chen and Wen Wang
Actuators 2026, 15(3), 155; https://doi.org/10.3390/act15030155 - 7 Mar 2026
Viewed by 389
Abstract
As manufacturing progresses, the demand for precision inspection of complex parts has intensified. To guarantee functionality and sensory performance, high-efficiency 3D shape measurement is required. In this paper, a collaborative robot-based approach for efficient and high-precision 3D shape inspection of complex parts is [...] Read more.
As manufacturing progresses, the demand for precision inspection of complex parts has intensified. To guarantee functionality and sensory performance, high-efficiency 3D shape measurement is required. In this paper, a collaborative robot-based approach for efficient and high-precision 3D shape inspection of complex parts is proposed. The system employs a collaborative robot to drive the scanner along optimized trajectories. First, the configuration of the inspection system is presented, and the ideal measurement mode for the sensor is analyzed. Subsequently, adaptive viewpoints are generated through parametric discretization based on surface geometric features. For inter-region scanning path planning, the problem is modeled as the Shortest Path Problem (SPP) within the framework of the Traveling Salesman Problem (TSP) and solved by constructing a Successive Approximation Algorithm (SAA). Furthermore, a Modified Denavit-Hartenberg (MDH) method is applied to establish the precise kinematic model of the collaborative robot. Inverse kinematics solutions are derived to convert planned viewpoints into target joint configurations, thereby achieving precise end-effector pose control. Simulation and experimental results on an engine cover and a cylinder head demonstrate that the proposed approach enables comprehensive 3D shape inspection of complex parts in a single setup and achieves higher efficiency and accuracy compared to existing methods. This work offers a viable solution for integrating robotic actuation and active sensing in the automated inspection of complex geometries. Full article
(This article belongs to the Special Issue Actuation and Sensing of Intelligent Soft Robots—2nd Edition)
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