Journal Articles

  1. K.C. Galloway, K. Becker, B. Phillips, D. Tchernov, R. Wood, D. Gruber, “Soft Robotic Grippers for Biological Sampling on Deep Reefs.” Soft Robotics, 2016.
  2. P. Polygerinos, Z. Wang, B. Overvelde, K.C. Galloway, R.J. Wood, K. Bertoldi, C.J. Walsh, 2015. “Modeling of Soft Fiber Reinforced Bending Actuators,” IEEE Transactions on Robotics (T-RO), 31(3): 778-789, 2015.
  3. T. Tolley, R. Shepherd, B. Mosadegh, K.C. Galloway, M. Wehner, M. Karpelson, R. Wood, G. Whitesides, “A Resilient, Untethered Soft Robot.” Soft Robotics, 1(3):213-223, 2014.
  4. P. Polygerinos, Z. Wang, K.C. Galloway, R. Wood and C.J. Walsh, “Soft Robotic Glove for Combined Assistance and at-Home Rehabilitation.” Robotics and Autonomous Systems (RAS) Special Issue on Wearable Robotics, 73:135-143, 2014.
  5. R. Sahai, K.C. Galloway, R. Wood, “Elastic Element Integration for Improved Flapping-wing Micro Air Vehicle Performance.” IEEE Transactions on Robotics (T-RO), 29(1):32-41, 2013.
  6. K.C. Galloway, J. Clark, D. Koditschek, “Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running.” Journal of Mechanisms and Robotics, 5(1):011009, 2012.
  7. Perez-Arancibia, K. Ma, K.C. Galloway, R. Wood, “First Controlled Vertical Flight of a Biologically-Inspired Microrobot.” Institute of Physics (IOP) Bioinspiration & Biomimetics, 6(3): 036009, 2011.


  • K.C. Galloway, P. Polygerinos, R. Wood, C. Walsh, “Soft Robotic Glove for Combined Assistance and Rehabilitation During Activities of Daily Living.” Encyclopedia of Medical Robotics, Edited by Dr. Jaydev P. Desai, World Scientific Publishing Company. (under review)

Refereed Conference Articles

  1. P. Polygerinos, K.C. Galloway, S. Sanan, M. Herman, C. Walsh, “EMG Controlled Soft Robotic Glove for Assistance During Activities of Daily Living.” IEEE ICORR, 2015. *Best Paper Award*
  2. P. Polygerinos, K.C. Galloway, E. Savage, M. Herman, K. O’Donnell, C. Walsh, “Soft Robotic Glove for Hand Rehabilitation and Task Specific Training.” IEEE ICRA, 2015.
  3. T. Roche, M.A. Horvath, A.A. Nodeh, K.C. Galloway, N.V. Vasilyev, D.J. Mooney, F.A. Pigula, C.J. Walsh “Design And Fabrication Of A Soft Robotic Direct Cardiac Compression Device.” ASME IDETC/CIE, 2015.
  4. M.T. Tolley, R. Shepherd, M. Karpelson, N. Bartlett, K.C. Galloway, M. Wehner, R. Nunes, G. Whitesides, R. Wood, “An Untethered Jumping Soft Robot,” IEEE IROS, 2014.
  5. Y.L. Park, J. Santos, K.C. Galloway, E.C. Goldfield, R. Wood, “A Soft Wearable Robotic Device for Active Knee Motions through Development of Compact Flat Pneumatic Artificial Muscles,” IEEE ICRA, 2014.
  6. Maeder-York, T. Clites, E. Boggs, R. Neff, P. Polygerinos, D. Holland, L. Stirling, K.C. Galloway, C. Wee, and C. Walsh, “Biologically Inspired Soft Robot for Thumb Rehabilitation,” Journal of Medical Devices, 8:020933, 2014.
  7. K.C. Galloway, P. Polygerinos, C. Walsh, R. Wood, “Mechanically Programmable Bend Radius for Fiber-Reinforced Soft Actuators.” IEEE International Conference on Advanced Robotics (ICAR), 2013.
  8. R. Sahai, K.C. Galloway, M. Karpelson, R. Wood, “A Flapping-Wing Micro Air Vehicle with Interchangeable Parts for Optimization Studies.” IEEE IROS, 2012.
  9. B. Finio, K.C. Galloway, R. Wood “A ±140μNm range, 5nNm resolution torque sensor for microrobotics applications.” IEEE IROS, 2011.
  10. K.C. Galloway, J. Clark, M. Yim, D. Koditschek, “Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion.” IEEE ICRA, 2011.
  11. A. Yasemin, K.C. Galloway, Y. Yazicioglu, D. Koditschek, “Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem,” ASME IDETC/CIE, 2010.
  12. K.C. Galloway, R. Jois, M. Yim, “Factory Floor: A Robotically Reconfigurable Construction Platform,” IEEE ICRA, Anchorage, AK, 2010.
  13. K.C. Galloway, J. Clark, D. Koditschek, “Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion,” ASME IDETC/CIE, San Diego, CA, 2009.
  14. K.C. Galloway, J. Clark, D. Koditschek, “Design of a Multi-Directional Variable Stiffness Leg for Dynamic Running,” ASME International Mechanical Engineering Congress and Exposition (IMECE), 2007.
  15. S. Chitta, M. Karabas, K.C. Galloway, V. Kumar, “RoboTrikke: Design, Modeling, and Experimentation with a Robotic Trikke,” ASME IDETC/CIE, 2006.


  1. K.C. Galloway, R.J. Wood. Soft Robotic Actuators and Grippers. Patent Pending.
  2. E. Roche, W. Whyte, H. O’Neill, K.C. Galloway, D. Mooney, C. Walsh. Delivery of therapy to living tissue. Patent Pending.
  3. J. Lessing, G. Whitesides, Y. Shevchenko, R. Martinez, D. Yang, B. Mosadegh, K.C. Galloway, F. Guder, A. Tayi. Sensors for soft robots and soft actuators. Patent Pending.
  4. K.C. Galloway, J. Santos, R. Knopf, J. Lessing, J. Zakin, C. Vause. Limb Stabilization Device. International Patent Pending.
  5. K.C. Galloway, R. Knopf, J. Lessing. Rigidizing Inflatable Structures. International Patent Pending.
  6. K.C. Galloway, J. Lessing. Soft Retractors. International Patent Pending.
  7. K.C. Galloway. Manufacturing Soft Devices from Sheet Materials. International Patent Pending, application PCT/US2014/058244.
  8. K.C. Galloway. Mechanically Programmed Soft Actuators with Conforming Sleeves. International Patent Pending, application PCT/US2014/060870.
  9. K.C. Galloway, C. Walsh, D. Holland, P. Polygerinos, T. Clites, C. Maeder-York, R. Neff, E. Boggs, Z. Dubrovsky. Multi-segment Reinforced Actuators and Wearable Applications. International Patent Pending, application PCT/US2014/062844.
  10. Xiao, P. Loschak, K.C. Galloway, H. Pei, S. Kesner, A. Thomas, C. Walsh. Methods and Devices for Safely Penetrating Materials. International Patent Pending, application PCT/US2012/052470.
  11. K.C. Galloway, J. Clark, D. Koditschek. Variable Stiffness Leg Structure for Multipede Running Robots. U.S. Patent 8,789,630. Awarded: Jul. 29, 2014.
  12. Alvarez, S. Alvarez, K.C. Galloway, H. Katzenberg, R. Kothari, J. Arthur. Dielectric elastomer fiber transducers. U.S. Patent 7,834,527. Awarded: Nov. 16, 2010.