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Monolithic soft robotics enabled by programmable materials
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DOI：10.1016/j.mser.2026.101229.png)
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Abstract
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Soft robotic systems enable autonomous shape morphing through intrinsically stimuli-responsive materials, marking a significant advance over conventional rigid, component-based robots. While multi-material soft actuators offer functional versatility, they often compromise structural continuity and design simplicity which are central tenets of soft robotics. By contrast, monolithic soft robotic systems (MSRs) employ single-phase or compositionally unified material architectures that embed actuation functionality directly into the material–geometry construct. This review studies key actuation mechanisms, canonical morpho-functional shape archetypes and programmable material platforms that collectively underpin MSR operation. We examine how deformation logic can be encoded into a material via intrinsic property gradients, internal anisotropies and field-responsive domains, thereby enabling scalable, adaptive responses to external stimuli. Finally, we outline key scientific challenges and strategic directions for MSR development, including the integration of embedded intelligence, model-based programmability, fabrication scalability, sustainable material innovation and multifunctional autonomy.
Keywords:
Smart materials
Programmable materials
Soft robotics
Soft actuators
Stimuli-responsive polymers
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