The IEEE Transactions on Soft Robotics (T-SRO) publishes fundamental advances to the interdisciplinary field of soft robotics. Soft robots are defined as robotic systems with intrinsic or structural compliance, making them adapt to external forces and use their embodied intelligence. Main technical areas involved span from materials, chemistry, sensors and actuators for soft robots to modelling, design, fabrication, simulation and control techniques, to models of embodied intelligence, algorithms, and AI-driven soft robots. In addition to full-length research papers, T-SRO publishes tutorials, perspective and review papers that are of interest to the soft robotics community.