Declan Mulroy

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About

Declan Mulroy is a rising researcher in soft robotics, known for pioneering new methods to control and stiffen flexible, compliant machines. His work addresses a central challenge in the field: enabling soft robots to achieve the precision and force traditionally reserved for rigid-bodied systems. In his highly cited 2020 paper, “Cable-Driven Jamming of a Boundary Constrained Soft Robot,” Mulroy introduced a novel class of mobile soft robots that can reversibly transition between compliant and rigid states, dramatically improving their ability to perform adaptive tasks in uncertain environments. This foundational contribution has garnered 16 citations and opened new avenues for deployable, high-force soft robots. More recently, in “Using R-Functions to Control the Shape of Soft Robots” (2022), he developed an elegant mathematical framework using approximate distance fields and constructive solid geometry to precisely control robot shape formation and morphing. By merging concepts from computer graphics with soft robotics, Mulroy is helping to bridge the gap between theoretical shape control and practical hardware. His work is particularly impactful for students and researchers interested in the intersection of mechanics, control, and materials in next-generation robotics.