Journal of Bionic Engineering (2025) 22:419–457 https://doi.org/10.1007/s42235-025-00664-1

Review: Advanced Drive Technologies for Bionic Soft Robots 

Chengyao Deng2,3  · Zhenkun Li1

1 School of Mechanical, Electronic and Control Engineering,  Beijing Jiaotong University, Beijing 100044, China

2 Institute of High Energy Physics, Chinese Academy of  Sciences, Beijing 100049, China 

3 School of Nuclear Science and Technology, University of  Chinese Academy of Sciences, Beijing 100049, China

Abstract 

This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots  are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute  a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant  challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common  soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired  objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize  the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the  latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We  then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally,  after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues  and challenges encountered in the advancement of soft robot actuation technology. 

Keywords Bionic soft robots · Bionic soft drive technologies · Biomimetic · Application