version 3.2 (8.2 MB) by Ikhlas Ben Hmida
A Unified simulation and analysis platform for soft, rigid and hybrid robotic systems


Updated Fri, 01 Jul 2022 08:57:27 +0000

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The SoRoSim Toolbox
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 exernal loading and actuation scenarios. Soft link should be modelled as a Cosserat rod, a 1D, slender rods accounting for bend, twist, stretch, and shear. While the ridig link can have any shape. MATLAB GUI assists creation of links, their assembly, assignment of DoFs, and the application of external and actuation forces. Toolbox can do more than static and dynamic analysis.

Cite As

Ikhlas Ben Hmida, Anup Teejo Mathew and Federico Renda (2022). SoRoSim (, MATLAB Central File Exchange. Retrieved March 30, 2022.

MATLAB Release Compatibility
Created with R2021b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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