The Master's thesis of researcher Mona Mohammed Muthanna was discussed at the College of Engineering, University of Basra, Department of Computer Engineering, under the supervision of Dr. Alaa Falah Abdul Hassan. The thesis, titled "Development of Multiple Soft Robot Systems for Handling Fragile and Squashable Products" includes...

In this thesis, the design and realization of a multi- soft-robotic system for industrial tasks demanding safe, flexible, and adaptable manipulation will be introduced. The solution described will be based on a three-robots system where each robot comprises a soft-arm-manipulator and end-effector. In this realization, the Pneumatic Muscle Actuators (PMA) used to drive each of the introduced robots will be specifically conceived and developed to bend and function with high accuracy and force output due to their mechanical characteristics. 
The three robots work together in a coordinated and sequential way in order to efficiently transfer the objects. A proportional integral and derivative (PID) control method is used to control the air pressure in the pneumatic muscles and the movement of the robots' arms. A pixy camera is also used in the project. This is used for color-based object recognition that can automatically facilitate the transfer of objects from robot to robot based on the color.
The experimental results prove that the soft robotic arms in the proposal are capable of bending as much as 90 degrees. The weight of the first and third robots is 0.459 kg each the weight of the second robot is 0.700 kg due to the two bending muscles with a size in length of 50 cm. The results prove the efficiency of the soft pneumatic robotic system in industrial processes that require flexible performance, with Normalized Mean Square Error (NMSE) values of 0.078386 for Robot 1, 0.089954 for the right and left muscles of Robot 2, and 0.045 for Robot 3.