A Recipe for Soft Fluidic Elastomer Robots
Author(s)Marchese, Andrew Dominic; Katzschmann, Robert Kevin; Rus, Daniela L
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This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, 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. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Mechanical Engineering
Mary Ann Liebert
Marchese, Andrew D., Robert K. Katzschmann, and Daniela Rus. “A Recipe for Soft Fluidic Elastomer Robots.” Soft Robotics 2, no. 1 (March 2015): 7–25.
Final published version