Journal Articles

  1. K.C. Galloway, Y. Chen, E. Templeton, B. Rife, I.S. Godage, E. Barth, “Fiber Optic Shape Sensing for Soft Robotics.” Soft Robotics, 2019.  (PDF)
  2. K. Neely, K.C. Galloway, A. Strauss “Additively Manufactured Reactive Material Architectures as a Programmable Heat Source.” 3D Printing and Additive Manufacturing, 2019.
  3. B.T. Phillips, K. Becker, S. Kurumaya, K.C. Galloway, G. Whittredge, D. l Vogt, C.T. Teeple, M.H. Rosen, D.F. Gruber, R.J. Wood, “Dexterous Deep-Sea Soft Robotic Arms: A low-power soft manipulator for biological exploration.” Scientific Reports, 8:1, 2018.
  4. L. Cappello, K.C. Galloway, S. Sanan, D. Wagner, R. Granberry, S. Engelhardt, F. Haufe, J. Peisner, C. Walsh, “Exploiting Textile Mechanical Anisotropy for Fabric-based Pneumatic Actuators.” Soft Robotics, 5:5, 2018.
  5. L. Cappello, J. Meyer, K.C. Galloway, J. Peisner, R. Granberry, D. Wagner, S. Engelhart, S. Paganoni, C. Walsh, “Assisting hand function after spinal cord injury with a fabric-based soft robotic glove.” Journal of NeuroEngineering and Rehabilitation, 15:59, 2018.
  6. B. Phillips, K. Becker, M. Rosen, D. Gruber, K.C. Galloway, K. Suzumori, R. Wood, “A Modular Soft Robotic Wrist for Underwater Manipulation.” Soft Robotics, 2018.
  7. Z. Wang, P. Polygerinos, J. Overvelde, K.C. Galloway, K. Bertoldi, C. Walsh, “Interaction forces of soft fiber reinforced bending actuators.” IEEE/ASME Transactions on Mechatronics, 22:2, pgs: 717-727, 2017.
  8. 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.
  9. 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.
  10. 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.
  11. 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.
  12. 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.
  13. 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.
  14. 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, July 2018.

Refereed Conference Articles

  1. Y. Chen, K. C. Galloway, and I. S. Godage, “Efficient Reduced-Order Models for Soft Actuators,” in Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
  2. I.S. Godage, Y. Chen, K.C. Galloway, E. Templeton, B. Rife, I.D. Walker, “Real-time Dynamic Models for Soft Bending Actuators.” ROBIO, 2018.
  3. 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*
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. R. Sahai, K.C. Galloway, M. Karpelson, R. Wood, “A Flapping-Wing Micro Air Vehicle with Interchangeable Parts for Optimization Studies.” IEEE IROS, 2012.
  11. B. Finio, K.C. Galloway, R. Wood “A ±140μNm range, 5nNm resolution torque sensor for microrobotics applications.” IEEE IROS, 2011.
  12. 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.
  13. 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.
  14. K.C. Galloway, R. Jois, M. Yim, “Factory Floor: A Robotically Reconfigurable Construction Platform,” IEEE ICRA, Anchorage, AK, 2010.
  15. K.C. Galloway, J. Clark, D. Koditschek, “Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion,” ASME IDETC/CIE, San Diego, CA, 2009.
  16. 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.
  17. 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. Actuators with Conforming Sleeves. U.S. Patent: 10,189,165. Awarded: January 29th, 2019.
  2. 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. U.S. Patent: 10,184,500. Awarded: January 22nd, 2019.
  3. K.C. Galloway. Manufacturing Soft Devices from Sheet Materials. U.S. Patent: 10,001,149. Awarded: June 19th, 2018.
  4. K.C. Galloway, R. Knopf, J. Lessing. Rigidizing Inflatable Structures. U.S. Patent: 9,956,745. Awarded: May 1st, 2018.
  5. K.C. Galloway, J. Lessing. Soft Retractors. U.S. Patent: 9,907,545. Awarded: March 6th, 2018.
  6. Xiao, P. Loschak, K.C. Galloway, H. Pei, S. Kesner, A. Thomas, C. Walsh. Methods and Devices for Safely Penetrating Materials. U.S. Patent: 9,561,544. Awarded: February 7th, 2017.
  7. K.C. Galloway. Mechanically Programmed Soft Actuators with Conforming Sleeves. U.S. Patent: 9,492,930. Awarded: November 15th, 2016.
  8. 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.
  9. 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.

Patents Pending

  1. K. Neely, K.C. Galloway, A. Strauss. Reactive Material Paste for Use in Additive Manufacturing.
  2. K.C. Galloway, Y. Chen, I. Godage. Fiber Optic Shape Sensing for Soft and Compliant Devices.
  3. K.C. Galloway, K. Neely, A.J. Valles, R. Clark, J. Frederick. Rapidly Customizable Enclosures for Shape Charges.
  4. K.C. Galloway, S Sanan, R. Granberry, D. Wagner, C. Walsh. Fabric-Based Soft Actuators.
  5. K.C. Galloway, R.J. Wood. Soft Robotic Actuators and Grippers.
  6. E. Roche, W. Whyte, H. O’Neill, K.C. Galloway, D. Mooney, C. Walsh. Delivery of therapy to living tissue.
  7. 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.
  8. K.C. Galloway, J. Santos, R. Knopf, J. Lessing, J. Zakin, C. Vause. Limb Stabilization Device.