version 3.3.1 (8.99 MB) by Ikhlas Ben Hmida
A Unified simulation and analysis platform for soft, rigid and hybrid robotic systems


Updated 22 Sep 2022

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