Modeling, analysis, and optimization of a miniaturized parallel robot with soft joints for high-speed real-time control

This repository contains the MATLAB and SOFA models described in the following paper:

Leveziel, M., Laurent, G.J., Gauthier, M. and Dahmouche R. (2025) Modeling, analysis, and optimization of a miniaturized parallel robot with soft joints for high-speed real-time control. Journal of Micro and Bio Robotics 21, 8. https://doi.org/10.1007/s12213-025-00187-2

All Authors are with the FEMTO-ST Institute, Université Marie et Louis Pasteur, CNRS, SupMicroTech-ENSMM, Besançon, France.