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Updated: May 4, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

Bubble casting soft robotics.

Trevor J Jones¹, Etienne Jambon-Puillet¹, Joel Marthelot^1,2

¹Department of Chemical and Biological Engineering, Princeton University, Princeton, NJ, USA.

|November 11, 2021

Summary

This summary is machine-generated.

This study introduces a novel fabrication method for soft robots using interfacial flows in curing elastomers. This approach creates robust, monolithic actuators with programmable shapes for diverse applications.

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Area of Science:

Robotics
Materials Science
Fluid Mechanics

Background:

Soft robots mimic biological movement using compliant materials and stimulus-responsive actuators.
Current manufacturing relies on assembling individual parts, facing limitations in scalability and design flexibility.

Purpose of the Study:

To develop an all-in-one methodology for fabricating and programming monolithic soft actuators.
To overcome limitations of traditional soft robot manufacturing processes.

Main Methods:

Harnessing interfacial flows in progressively curing elastomers to create monolithic pneumatic actuators.
Rationalizing fluid mechanics during actuator assembly and modeling subsequent shape morphing.
Leveraging quantitative knowledge to program complex functionalities, such as sequential motion.

Main Results:

Demonstration of a new fabrication methodology for soft machines.
Production of robust, monolithic pneumatic actuators with tailored shapes.
Achieved complex functionalities like sequential motion from monotonic stimuli.

Conclusions:

The proposed methodology offers flexibility, robustness, and predictability in soft actuator fabrication.
This approach accelerates soft robotics development by enabling complex actuator designs (e.g., vascular structures).
Paves the way for new functionalities derived from geometric and material nonlinearities in soft machines.