
Open access
Date
2015-03Type
- Journal Article
ETH Bibliography
no
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Abstract
This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000425045Publication status
publishedExternal links
Journal / series
Soft RoboticsVolume
Pages / Article No.
Publisher
Mary Ann LiebertOrganisational unit
09689 - Katzschmann, Robert / Katzschmann, Robert
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ETH Bibliography
no
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