Soft Robotic Excretory Care Simulator for Nursing Education: Functional and Perceptual Biomimetics Approach

Despite rapid advances in soft robotics for biomedical applications, little attention has been paid to its potential for simulating interactive nursing procedures that involve complex human responses. In this study, the first soft robotic simulator was specifically designed for training in the digital removal of feces (DRF)—a delicate, discomfort‐sensitive nursing technique frequently performed in home care settings in Japan. Existing DRF training relies on static models that fail to replicate the physiological responses of patients, often leading to inadequate skill acquisition and patient discomfort. To address this gap, we implement a novel simulator incorporating two soft actuators (a pouch‐type actuator for anal sphincter contraction and a McKibben muscle for puborectalis relaxation) and two soft sensors for detecting anal and rectal massage. These are embedded into a multilayer rectal model and integrated with a real‐time feedback interface. Our design uniquely prioritizes both functional fidelity and perceptual realism, enabling trainees to learn from physiological reactions that mimic actual patient responses. Validation with experienced and novice nurses confirms the simulator's effectiveness in improving procedural understanding and confidence. This study demonstrates a new application of soft robotics—not only for anatomical replication, but also as a practical training tool for hands‐on nursing procedures.