Additive manufacturing of silicon based PneuNets as soft robotic actuators

In human-robot interaction hard grippers threaten users. Soft silicon grippers that are actuated by PneuNets have been proposed as inherently compliant solution. Today, PneuNets are molded in an inflexible, manual casting process. In this work, the substitution of this molding process with additive manufacturing of a soft silicon based actuator is investigated. Opportunities, proceedings and restrictions of the additive manufacture method are presented. Additively manufactured actuators are experimentally compared to molded ones. Design changes are proposed for additive manufacture for achieving essential durability. Design principles for additive manufacturing may increase design flexibility for soft robotics.