Fabrication methods to develop soft fluidic elastomer robots.

Three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated.

Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. 

Soft Fluidic Elastomer Robot

Marchese Andrew D., Katzschmann Robert K., and Rus Daniela.Soft Robotics.Mar 2015.ahead of printhttp://doi.org/10.1089/soro.2014.0022

Fabrication methods to develop soft fluidic elastomer robots.

