A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots

Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.

Automated summary

Soft robots, made of elastically deformable and compliant materials, have the potential to change shape and adapt to their environment, providing advantages over traditional robotics. In this study, we present a streamlined workflow using digital light processing (DLP) 3D printing to create field-deployable soft robots. The soft robots are capable of walking underwater at speeds comparable to their biological analog and can perform untethered locomotion in a natural aquatic environment.