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Tough, Flexible, Strong: Characterization of Soft-Soft Silicone Interfaces for Soft Robotics
Charlotte M Folinus1, Kaitlyn P Becker1
1Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA.
Soft Robotics
|March 10, 2026
Summary
This study characterizes silicone rubber interfaces for soft robotics, providing data on how substrate material and bonding processes affect performance. This research guides material selection for more robust and capable soft robotic systems.
Area of Science:
- Materials Science
- Robotics Engineering
- Soft Systems
Background:
- Soft robotics systems increasingly require integrated interfaces between soft and rigid components.
- Limited data exists for soft robot designers on selecting materials and fabrication techniques for soft-soft interfaces, particularly those leveraging adhesion.
Purpose of the Study:
- To experimentally characterize how substrate material and bonding processes influence the performance of soft-soft silicone interfaces.
- To provide a framework and initial insights for material selection in soft-soft interface design.
- To guide design decisions for enhanced soft robot capabilities.
Main Methods:
- Characterization of five addition-curing silicone rubbers and five bonding processes.
- Definition and measurement of performance using quantitative metrics: toughness (adhesive fracture energy), flexibility (maximum localized strain during peeling), and strength (initial peak peel force and force ratio).
Main Results:
- Substrate material and bonding method jointly determine the failure behavior (adhesive, cohesive, mixed-mode) of soft-soft silicone interfaces.
- Performance metrics (toughness, strength, flexibility) are significantly influenced by the combined choices of substrate and bonding process.
- Failure modes directly impact achievable performance and can inform design strategies.
Conclusions:
- Understanding failure modes is crucial for mitigating interfacial failure in soft robotic systems.
- This research enables the design of higher-capability soft robots with improved operating loads and extended component lifetimes.
- Provides essential data for material selection in the development of advanced soft robotic interfaces.
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