# Force and Speed in a Soft Stewart Platform

arXiv: https://arxiv.org/abs/2504.13127 · HTML: https://mlsanity.com/paper/2504.13127/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Apr 2025.

## Built on by (most cited first, 1 of 1)

- [Damage Adaptation in Seconds for Architected Materials](https://mlsanity.com/paper/2606.17394/) (2026)

## Abstract (arXiv)

Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able to use one third as many mechatronic components as a rigid Stewart platform, while retaining a working payload of 2kg and an open-loop bandwidth greater than 16Hz. We show that the platform is capable of both precise tracing and dynamic disturbance rejection when controlling a ball and sliding puck using a Proportional Integral Derivative (PID) controller. We develop a machine-learning-based kinematics model and demonstrate a functional workspace of roughly 10cm in each translation direction and 28 degrees in each orientation. This 6DoF device has many of the characteristics associated with rigid components - power, speed, and total workspace - while capturing the advantages of soft mechanisms.