3D printing of robotic soft actuators with programmable bioinspired architectures

Manuel Schaffner, Jakob A. Faber (), Lucas Pianegonda, Patrick A. Rühs, Fergal Coulter and André R. Studart ()
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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
André R. Studart: Complex Materials, Department of Materials, ETH Zürich

Nature Communications, 2018, vol. 9, issue 1, 1-9

Abstract: 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.

Date: 2018
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DOI: 10.1038/s41467-018-03216-w

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