Click chemistry stereolithography for soft robots that self-heal

< 4 is achievable through appropriate selection of the two primary chemical constituents (mercaptosiloxane, M.S., and vinylsiloxane, V.S.). Using this chemo-mechanical system, we directly fabricated compliant machines, including an antagonistic pair of fluidic elastomer actuators (a primary component in most soft robots). During printing, we retained unreacted pockets of M.S. and V.S. that permit autonomic self-healing, via sunlight, upon puncture of the elastomeric membranes of the soft actuators.