A Recipe for Soft Fluidic Elastomer Robots

By Andrew D. Marchese, Robert K. Katzschmann, Daniela Rus. Soft Robotics, 2015

613 citations recorded by the source corpus.

Abstract 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.

Subfields: Biomedical Engineering, Condensed Matter Physics

View Paper: https://www.semanticscholar.org/paper/119b4f6e6c20e3cab9841d03a1f72780a5b9ab2c

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In Biomedical Engineering

In Condensed Matter Physics

Citations in the corpus

An Overview of Novel Actuators for Soft Robotics (2018, methodology): “The chamber size and their morphological arrangement in FEA-FFA design was also examined in Reference [7].”
Soft Robotic Grippers for Biological Sampling on Deep Reefs (2016, methodology): “present a method in which dissolvable cores are used to define the inner bellow geometry; however, this is a time-consuming process that requires a new core for each new actuator and time spent dissolving the core.(28) To overcome these challenges, we developed a new fabrication method that uses reu”
Mechanically Versatile Soft Machines through Laminar Jamming (2018, background): “[35] AD Marchese, RK Katzschmann, and D Rus.”
Soft Manipulators and Grippers: A Review (2016, methodology): “In this process, patterned or relief surfaces are created using molds of standard photolithography techniques after which layers can be built up (Marchese et al., 2015).”
Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides (2016, background): “This compliant, stretchable waveguide shares the same material library (including silicone elastomers, polyurethane elastomers, and tough hydrogels) as that of many commonly developed soft robots (19, 21, 42).”