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About

Yoshiharu Kagami is a pioneering researcher in soft robotics, with a specific focus on electro-active polymer (EAP) gel robots. His work centers on the motion, dynamics, and design of highly deformable, starfish-shaped robots made entirely from these smart materials. Kagami’s major contributions include developing the first kinematic and dynamic models for EAP gel systems, which describe both active deformations (from generated stress) and passive deformations simultaneously. He also proposed an inverse kinematic model to control these robots’ high degrees of freedom with limited inputs. His most cited work, "Motion design of a starfish-shaped gel robot made of electro-active polymer gel" (2002), has garnered 113 citations, establishing a foundational framework for the field. Kagami’s research enables directional bending and shape design in micro-scale actuators, advancing the potential for soft, flexible robots in microsystems. His notable achievements include pioneering the shape design of EAP gel robots to facilitate controlled, directional movement, laying the groundwork for future innovations in soft robotics and bio-inspired actuation.