Soluble Polymer Pneumatic Networks and a Single-Pour System for Improved Accessibility and Durability of Soft Robotic Actuators

Abstract

Soft robotic devices can be used to demonstrate mechanics, robotics, and health care devices in classrooms. The complexity of soft robotic actuator fabrication has limited its classroom use. We propose a single-mold method of fabricating soluble insert actuators (SIAs) to simplify existing actuator fabrication methods using common accessible materials. This was accomplished by embedding molded soluble structures into curing polymer with custom molds and later dissolving the internal structure, leaving behind a hollow pneumatic network. Compared with similar actuators, SIAs actuated with comparable deformations while withstanding higher pressures for longer durations. SIAs have simple and accessible fabrication, resulting in durable actuators. We propose this method of actuator fabrication for use in K-12 schools to engage young students in this emerging field. In addition to silicone actuators, we show application of SIAs in biodegradable actuator fabrication, in a simplified model for classroom demonstration, and use in a glove designed to teach students the tactile art of ceramics.