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Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This article introduces a user-friendly MATLAB toolbox, Soft Robot Simulator (SoRoSim), that integrates the geometric variable-strain (GVS) model of Cosserat rods to facilitate the static and dynamic analysis of soft, rigid, and hybrid robotic systems. We present a brief overview of the design and structure of the toolbox and validate it by comparing its results with those published in the literature. To highlight the toolbox&#x2019;s potential to efficiently model, simulate, optimize, and control various robotic systems, we demonstrate four sample applications. The demonstrated applications explore different actuator and external loading conditions of single-, branched-, open-, and closed-chain robotic systems. We think that the soft robotics research community will significantly benefit from the SoRoSim toolbox for a wide variety of applications.

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach