A Framework for the Multidimensional Classification and Applications of Soft Robots

Soft robotics has emerged as a transformative field, diverging from traditional rigid-body systems to explore robots made of compliant and flexible materials inspired by biological systems. These robots exhibit remarkable adaptability, enabling them to perform complex tasks in dynamic environments such as medical applications, industrial automation and environmental exploration. Despite numerous advances in the field, existing review studies often focus on specific areas and provides comprehensive information in lengthy texts without providing an overview from different perspectives on classification of soft robots. This study presents a multidimensional framework for the classification and application of soft robots, encompassing ten key dimensions: material properties, actuation mechanisms, functionality, fabrication techniques, size and scale, energy sources, environmental interactions, adaptability, control systems and application domains. The classifications are systematically organized into concise tables, avoiding lengthy textual explanations and technical jargon to ensure clarity and accessibility for diverse audiences. Each category is supplemented with references to facilitate further exploration of the field. Additionally, the article explores emerging trends and future directions in soft robotics, highlighting advancements in sustainable materials, intelligent systems and bioinspired designs by addressing challenges such as energy efficiency, scalability and durability.