  Soft robotics has been a trending topic within the robotics community for
almost two decades. However, available tools for the modeling and analysis of
soft robots are still limited. This paper introduces a user-friendly MATLAB
toolbox, Soft Robot Simulator (SoRoSim), that integrates the Geometric Variable
Strain (GVS) model of Cosserat rods to facilitate the static and dynamic
analysis of soft, rigid, or hybrid robotic systems. We present a brief overview
of the design and structure of the toolbox and validate it by comparing its
results with those published in the literature. To highlight the toolbox's
potential to efficiently model, simulate, optimize, and control various robotic
systems, we demonstrate four sample applications. The demonstrated applications
explore different actuator and external loading conditions of single-,
branched-, open-, and closed-chain robotic systems. We think that the
soft-robotics research community will significantly benefit from the SoRoSim
toolbox for a wide variety of applications.
