A Unified simulation and analysis platform for soft, rigid and hybrid robotic systems
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Aggiornato 3 mag 2023

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This is a MATLAB toolbox that uses the Geometric Variable Strain (GVS) approach to provide a unified framework for the modeling, analysis, and control of soft, rigid, and hybrid robots.The toolbox can be used to analyze open-, closed- and branched structures and allows the user to model many different external loading and actuation scenarios. Soft links should be modelled as a Cosserat rod, a 1D, slender rod accounting for bend, twist, stretch, and shear DoFs. While rigid links can have any shape. The Toolbox GUI assists with the creation of links, their assembly, assignment of DoFs, and the application of external and actuation forces.
The examples folder of the toolbox contains some saved linkages and links you can run simulations for.
This toolbox gives the user access to object properties and functions thus allowing for use alongside custom codes to perform various analyses such as design optimization, control and others.
Find the overview of the toolbox, validation, and examples of problems that can be analized using SoRoSim in our IEEE Robotics and Automation Magazine paper, "SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach" or
More details about the theory behind the toolbox and some of its applications can be found on:
This work was supported in part by US Office of Naval Research Global under Grant N62909-21-1-2033, and in part by the the Khalifa University of Science and Technology under Grants CIRA-2020-074, RC1-2018-KUCARS

Cita come

A. T. Mathew, I. M. B. Hmida, C. Armanini, F. Boyer and F. Renda, "SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach," in IEEE Robotics & Automation Magazine, doi: 10.1109/MRA.2022.3202488.

Compatibilità della release di MATLAB
Creato con R2021b
Compatibile con qualsiasi release
Compatibilità della piattaforma
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Basic functions


Examples/Free Fall

SorosimLink files

SorosimLinkage files/@SorosimLinkage

SorosimLinkage files/Actuation

SorosimLinkage files/Input functions

SorosimLinkage files/Static and dynamic functions

SorosimLinkage files/Strain bases

SorosimLinkage files/Utility Functions

SorosimTwist files

Examples/Free Fall


Examples/Soft Gripper

Examples/Soft Manipulator

Versione Pubblicato Note della release

- Version number


- Users can choose basis functions for strain computation
- Custom integration schemes, Point Forces, Plot functions for rigid links added.
- Twist class is revised into SorosimTwist with many new properties and features
-GUI improvement
-Bug Fixes


- Added sources to toolbox description


- Files added to Basic functions folder to optimize processing speed


- Faster dynamic simulation
- Faster static equilibrium analysis
- MATLAB integrators such as, ode23, ode113, ode15s, ode23s, ode1, and ode2 incorporated.
- User can now choose a 2nd order Zannah collocation method for strain estimation


- MATLAB Live Script files added for easier example demonstration
- Running using MATLAB online is enabled
- SoRoSim guide file added to the toolbox folder


- Folder Organization


- SoRoSim can now model closed-chain and branched robotic structures
- Scaling techniques added for better computational speed and convergence.
- Link and Linkage class file names changed to SoRoSimLink and SoRoSimLinkage.


- Solving improvements to optimize simulation time
- Updated examples files


- Adjustments to normalizing Linkages


- Improved user interface


Updated Examples


- Computations of soft links are done after normalization for faster and more stable simulations.
- Large scale problems can now be simulated
- Graphical improvements


- Toolbox can now handle variable strain problems.
- Graphical and computational improvements.