One-Shot 3D Printed Soft Device Actuated Using Metal-Filled Channels and Sensed with Embedded Strain Gauge.

Area of Science:

• Robotics
• Materials Science
• Additive Manufacturing

Background:

• Current multimaterial extrusion (M-MEX) techniques are underutilized for soft electromagnetic (EM) actuator manufacturing.
• Traditional methods involve multiple assembly steps, limiting efficiency and scalability.

Purpose of the Study:

• To demonstrate a novel, single-step fabrication of a soft EM actuator using M-MEX.
• To integrate internal channels filled with liquid metal and an embedded strain gauge for sensing capabilities.
• To showcase the scalability and potential of this approach for advanced soft robotic applications.

Main Methods:

• Utilized multimaterial extrusion (M-MEX) 3D printing technology.
• Fabricated a soft EM actuator with internal channels filled with liquid metal (Galinstan).
• Integrated a strain gauge sensor within the actuator structure for real-time monitoring.

Main Results:

• Achieved a one-step fabrication process for a smart soft EM actuator.
• Demonstrated a bending angle of 22.4° at 4A with a relative error of 0.7%.
• Recorded a high sensor sensitivity of 49.7 and presented examples of a soft robot and a dual-finger actuator.

Conclusions:

• The proposed M-MEX approach offers a scalable, efficient method for fabricating integrated soft EM actuators.
• This technology enables advancements in soft robotics, offering advantages like portability and reduced system complexity.
• The developed actuators show significant potential for next-generation soft robotic systems.