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3D printing of robotic soft actuators with programmable bioinspired architectures

Author

Listed:
  • Manuel Schaffner

    (Complex Materials, Department of Materials, ETH Zürich)

  • Jakob A. Faber

    (Complex Materials, Department of Materials, ETH Zürich)

  • Lucas Pianegonda

    (Complex Materials, Department of Materials, ETH Zürich)

  • Patrick A. Rühs

    (Complex Materials, Department of Materials, ETH Zürich)

  • Fergal Coulter

    (Complex Materials, Department of Materials, ETH Zürich
    University College Dublin, Belfield)

  • André R. Studart

    (Complex Materials, Department of Materials, ETH Zürich)

Abstract

Soft actuation allows robots to interact safely with humans, other machines, and their surroundings. Full exploitation of the potential of soft actuators has, however, been hindered by the lack of simple manufacturing routes to generate multimaterial parts with intricate shapes and architectures. Here, we report a 3D printing platform for the seamless digital fabrication of pneumatic silicone actuators exhibiting programmable bioinspired architectures and motions. The actuators comprise an elastomeric body whose surface is decorated with reinforcing stripes at a well-defined lead angle. Similar to the fibrous architectures found in muscular hydrostats, the lead angle can be altered to achieve elongation, contraction, or twisting motions. Using a quantitative model based on lamination theory, we establish design principles for the digital fabrication of silicone-based soft actuators whose functional response is programmed within the material's properties and architecture. Exploring such programmability enables 3D printing of a broad range of soft morphing structures.

Suggested Citation

  • Manuel Schaffner & Jakob A. Faber & Lucas Pianegonda & Patrick A. Rühs & Fergal Coulter & André R. Studart, 2018. "3D printing of robotic soft actuators with programmable bioinspired architectures," Nature Communications, Nature, vol. 9(1), pages 1-9, December.
    • Handle: RePEc:nat:natcom:v:9:y:2018:i:1:d:10.1038_s41467-018-03216-w
    DOI: 10.1038/s41467-018-03216-w
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    Cited by:

    1. Qingrui Wang & Xiaoyong Tian & Daokang Zhang & Yanli Zhou & Wanquan Yan & Dichen Li, 2023. "Programmable spatial deformation by controllable off-center freestanding 4D printing of continuous fiber reinforced liquid crystal elastomer composites," Nature Communications, Nature, vol. 14(1), pages 1-11, December.
    2. Chao Zhang & Zhuang Zhang & Yun Peng & Yanlin Zhang & Siqi An & Yunjie Wang & Zirui Zhai & Yan Xu & Hanqing Jiang, 2023. "Plug & play origami modules with all-purpose deformation modes," Nature Communications, Nature, vol. 14(1), pages 1-10, December.
    3. Yunjiang Wang & Xinben Hu & Luhang Cui & Xuan Xiao & Keji Yang & Yongjian Zhu & Haoran Jin, 2024. "Bioinspired handheld time-share driven robot with expandable DoFs," Nature Communications, Nature, vol. 15(1), pages 1-10, December.
    4. Liang Yue & S. Macrae Montgomery & Xiaohao Sun & Luxia Yu & Yuyang Song & Tsuyoshi Nomura & Masato Tanaka & H. Jerry Qi, 2023. "Single-vat single-cure grayscale digital light processing 3D printing of materials with large property difference and high stretchability," Nature Communications, Nature, vol. 14(1), pages 1-12, December.
    5. Wei Tang & Yiding Zhong & Huxiu Xu & Kecheng Qin & Xinyu Guo & Yu Hu & Pingan Zhu & Yang Qu & Dong Yan & Zhaoyang Li & Zhongdong Jiao & Xujun Fan & Huayong Yang & Jun Zou, 2023. "Self-protection soft fluidic robots with rapid large-area self-healing capabilities," Nature Communications, Nature, vol. 14(1), pages 1-12, December.
    6. Chiara Bartolozzi & Giacomo Indiveri & Elisa Donati, 2022. "Embodied neuromorphic intelligence," Nature Communications, Nature, vol. 13(1), pages 1-14, December.

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