SoftSnap: Rapid Prototyping of Untethered Soft Robots Using Snap-Together Modules.

Area of Science:

• Robotics
• Materials Science

Background:

• Soft robots offer safe, adaptable interactions but face prototyping challenges.
• Reconfigurable modular robots allow rapid prototyping but struggle to balance design simplicity with extensive deformation capabilities.

Purpose of the Study:

• To introduce SoftSnap modules, a novel system for rapid assembly of untethered soft robots.
• To address the limitations of existing reconfigurable soft robotic modules in achieving diverse and complex deformations.

Main Methods:

• Development of SoftSnap modules integrating computation, motor-driven string actuation, and flexible thermoplastic polyurethane (TPU)-printed structures.
• Designing modules for seamless connection, enabling a vast range of deformations through pre-wired string configurations.
• Demonstrating assembly of various robot configurations including starfish-like, brittle star, snake, 3D gripper, and ring-shaped robots.

Main Results:

• SoftSnap modules facilitate the rapid assembly of untethered soft robots with diverse functionalities.
• Each module offers a vast deformation range via different pre-wired string configurations.
• Demonstrated configurations showcase ease of assembly, adaptability, and functional diversity.

Conclusions:

• The scalable and reconfigurable design of SoftSnap provides an efficient platform for soft robot prototyping.
• SoftSnap modules overcome limitations in achieving complex deformations with individual modules.
• This system enables researchers to explore a wide array of soft robotic applications through rapid prototyping.