A Unified simulation and analysis platform for soft, rigid and hybrid robotic systems


Updated Thu, 22 Sep 2022 06:18:58 +0000

View License

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 links are modelled as Cosserat rods: 1D, slender rods accounting for bend, twist, stretch, and shear deformations, while ridig links can have any shape. A MATLAB GUI assists in creation of links, their assembly, assignment of DoFs, and the application of external and actuation forces.
The toolbox can also be used for more than static and dynamic analysis but can be used along custom codes to perform various analyses such as design optimization, control and others.
For a more detailed overview you can refer to our paper:

Cite As

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

A. T. Mathew, I. M. B. Hmida, C. Armanini, F. Boyer and F. Renda, "SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach," in IEEE Robotics & Automation Magazine, doi: 10.1109/MRA.2022.3202488.

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

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Examples/Free Fall


Examples/Soft Gripper

Examples/Soft Manipulator

Version Published Release Notes

- Added sources to toolbox description


- Files added to Basic functions folder to optimize processing speed


- Faster dynamic simulation
- Faster static equilibrium analysis
- MATLAB integrators such as, ode23, ode113, ode15s, ode23s, ode1, and ode2 incorporated.
- User can now choose a 2nd order Zannah collocation method for strain estimation


- MATLAB Live Script files added for easier example demonstration
- Running using MATLAB online is enabled
- SoRoSim guide file added to the toolbox folder


- Folder Organization


- SoRoSim can now model closed-chain and branched robotic structures
- Scaling techniques added for better computational speed and convergence.
- Link and Linkage class file names changed to SoRoSimLink and SoRoSimLinkage.


- Solving improvements to optimize simulation time
- Updated examples files


- Adjustments to normalizing Linkages


- Improved user interface


Updated Examples


- Computations of soft links are done after normalization for faster and more stable simulations.
- Large scale problems can now be simulated
- Graphical improvements


- Toolbox can now handle variable strain problems.
- Graphical and computational improvements.