Bioinspired 3D Printable Soft Vacuum Actuators for Locomotion Robots, Grippers and Artificial Muscles

= 3.75 cm/s), grippers, and artificial muscles have been established and activated using the new soft actuation concept. Finally, to demonstrate the modularity of the proposed actuation concept, soft actuators with multiple degrees of freedom and variable length are established using a series of 3D printable vacuum hinges.