Paint-a-Pouch: Mask-Based Fabrication of Pouch Actuators for Pneumatically Actuated Soft Robots

In this work we present a monolithic fabrication method for laminated pneumatically actuated pouch actuators. Combining the concepts of lamination, 3D printing and thermal bonding, the proposed process is capable of making low profile, pneumatic soft robots driven by pouch actuators. Two main procedures, the mask heat pressing and modified 3d printing were introduced and tested. Preferred manufacturing parameters were obtained by experiments. The fabrication, due to its simplicity and flexibility, enables fast prototyping of pneumatic actuation systems, which could potentially contribute to future soft robotic implementations.