Matthias Hofer
ETH Zurich, University Hospital Leipzig, Dynamic Systems (United States)
Papers
9
Total Citations
109
H-Index
5
About
Matthias Hofer is a robotics researcher specializing in soft robotics, pneumatic actuation, and advanced control systems for compliant robotic manipulators. His work centers on designing lightweight, fabric-based inflatable robotic arms that challenge conventional rigid-body approaches to manipulation, offering safer and more adaptable alternatives for human-robot interaction and delicate task execution. Hofer's most influential contributions include the development of spherical soft robotic arms actuated by as few as three pneumatic bellows to control multiple degrees of freedom — an elegant and efficient departure from traditional designs. His 2020 fabric-based spherical arm paper has garnered 38 citations, while his earlier 2018 hybrid soft arm design has accumulated 36, together forming the conceptual backbone of his research program. He has demonstrated these systems in demanding real-world tasks such as pick-and-place operations and even ball-catching, employing sophisticated control strategies including iterative learning control and offset-free model predictive control to achieve fast, accurate, and reliable performance despite the inherent compliance and nonlinearity of soft actuators. Earlier work on robotic steering of flexible rhinoscopes reflects his broader interest in medical and precision robotics. Across his portfolio, Hofer consistently bridges mechanical design, system modeling, and intelligent control, making meaningful contributions to the growing field of soft and compliant robotics.
Research Focus
Key Achievements
Top Papers
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- 2Design, Modeling and Control of a Soft Robotic Arm36 citations · 2018
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