Analyzing the Effects of Wire Routing in Soft-Growing Robots

Soft-growing robots excel in navigating complex environments due to their flexibility and significant length extension, making them ideal for data collection where human access is restricted by hazards. However, integrating the reliable power and signal connections needed for these sensors without compromising the robot’s growth and steering abilities has proven challenging in previous designs. In this paper, the impact of wire attachment and routing paths on the performance of soft-growing robots is characterized by comparing straight and helical configurations in both a quasi-static bending test for steering and an eversion test for growth. Results show that helical routing improves steering by maintaining flexibility and maneuverability, whereas straight wires reduce steering and cause unpredictable rolling. While all configurations could grow, the effects of wire stiffness and configuration on growth were more nuanced; in some situations, the wire’s structure aided growth, while in others the wire hindered it. Overall, a medium helical pitch effectively balanced growth speed and steering capability, retaining functionality while adding the possibility of electrical integration. These findings support the integration of wires in soft-growing robots to ensure robust electrical connection with minimal performance impact.