Soft robotics is bringing a renewal of robot mechatronic design: future robots will no longer be “rigid” but made of complex deformable structures, composed of stiff and soft regions, close to organic materials that we can find in the nature. Soft robotics opens very attractive perspectives in terms of new applications, reduction of manufacturing costs, robustness, efficiency and security. It could constitute a great jump in robotics in the following years. The main obstacle identified by all surveys on the subject, is the non-adaptation of the current robotic methods used for design, control, modeling and interaction: it can no longer be argued that deformations are solely a perturbation of rigid models, classically used in robotics. It is precisely on this point that our team proposes a completely different vision. We aim at integrating precise and real-time modeling of the deformations in the control methods of soft robots and new inverse methods for the interaction with the environment. This is where the challenge begins…