We report strain engineering of superconductivity in RuO$_2$ singlecrystalline films, which are epitaxially grown on rutile TiO$_2$ and MgF$_2$ substrates with various crystal orientations. Systematic mappings between the superconducting transition temperature and the lattice parameters reveal that shortening of specific ruthenium-oxygen bonds is a common feature among the superconducting RuO$_2$ films. Ab initio calculations of electronic and phononic structures for the strained RuO$_2$ films suggest the importance of soft phonon modes for emergence of the superconductivity. The findings indicate that simple transition metal oxides such as with the rutile structure may be suitable for further exploring superconductivity by controlling phonon modes through the epitaxial strain.
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