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About

Arnau Garriga-Casanovas is a robotics researcher whose work sits at the intersection of soft robotics, continuum robot mechanics, and advanced control systems. His research has made significant contributions to the design, modeling, and control of soft and continuum robotic manipulators, with particular emphasis on medical and human-robot interaction applications. His foundational work on kinematics of continuum robots with constant curvature bending (58 citations) and a unified design framework for fluidically actuated soft manipulators (41 citations) helped establish common theoretical ground in a rapidly evolving field. His energy-shaping control approach for soft continuum manipulators (64 citations) stands as his most impactful contribution, addressing the critical challenge of disturbance compensation in compliant systems. Garriga-Casanovas has also advanced concentric tube robot follow-the-leader motion (32 citations) and applied his expertise to clinically motivated devices, including a 6 DOF soft manipulator designed for colorectal surgery. His exploration of pneumatic artificial muscles, fiber-reinforced actuators, and hybrid control strategies demonstrates a broad yet cohesive research vision. Collectively accumulating over 270 citations, his body of work offers both theoretical rigor and practical insight valuable to students and researchers entering the soft robotics field.