This review meta-analysis combines and compares the findings of previously published works in the field of soft wearable robots (SWRs) that provide active methods of actuation for assistive and augmentative purposes. A thorough investigation of major contributions in the field of an SWR is made to analyze trends in the field focused on fluidic and cable-driven systems, prevalent and successful approaches, and identify the future direction of SWRs and active actuation strategies. Types of soft actuators used in wearables are outlined, as well as general practices for fabrication methods of soft actuators and considerations for human–robot interface designs of garment-like exosuits. An overview of well-known and emerging upper body (UB)- and lower body (LB)-assistive technologies is categorized by the specific joints and degree of freedom (DoF) assisted and which actuator methodology is provided. Different use cases for SWRs are addressed, as well as implementation strategies and design applications.

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In this paper, an image based visual servo (IBVS) scheme is developed for a hexacopter, equipped with a robotic soft grasper to perform autonomous object detection and grasping. The structural design of the hexacopter-soft grasper system is analyzed to study the soft grasper’s influence on the multirotor’s aerodynamics. The object detection, tracking and trajectory planning are implemented on a high-level computer which sends position and velocity setpoints to the flight controller. A soft robotic grasper is mounted on the UAV to enable the collection of various contaminants. The use of soft robotics removes excess weight associated with traditional rigid graspers, as well as simplifies the controls of the grasping mechanics. Collected experimental results demonstrate autonomous object detection, tracking and grasping. This pipeline would enable the system to autonomously collect solid and liquid contaminants in water canal based on GPS and multi-camera system. It can also be used for more complex aerial manipulation including in-flight grasping.

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