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Related Experiment Video

Updated: Nov 2, 2025

Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots

Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots

Published on: January 13, 2023

One-Shot 3D-Printed Multimaterial Soft Robotic Jamming Grippers.

Gerard David Howard¹, James Brett¹, Jack O'Connor^1,2

¹Robotics and Autonomous Systems Group, Commonwealth Scientific and Industrial Research Organization (CSIRO), Brisbane, Australia.

|June 10, 2021

Summary

This summary is machine-generated.

This study introduces a novel one-shot 3D printing technique for creating granular jamming soft grippers. This method accelerates design iterations and enables rapid prototyping for complex robotic applications.

Keywords:

3D printing design exploration granular jamming multimaterial soft actuator soft gripper soft robotics

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Soft grippers offer high performance in complex tasks via morphological computing.
Modeling and fabricating granular jamming grippers are challenging, limiting design exploration.

Purpose of the Study:

To develop a simplified fabrication method for granular jamming soft grippers.
To enable rapid prototyping and exploration of unconventional soft actuator designs.

Main Methods:

Utilized multimaterial 3D printing for a "one shot" fabrication of entire grippers.
Integrated membrane and granular components in a single print run.
Employed a generate-and-test methodology facilitated by rapid prototyping.

Main Results:

Successfully prototyped a twisting gripper for coin manipulation.
Developed a multifunctional legged robot paw for compliant locomotion and object grasping.
Demonstrated the ability to rapidly characterize the design space of printed jamming grippers.

Conclusions:

The one-shot 3D printing technique significantly simplifies the creation of soft grippers.
This approach facilitates innovation in unconventional soft actuator design.
Enables informed exploration of new soft robotic actuator capabilities.