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8. Soft robotics

Research

describe what you see in this image

Soft robotics draws directly from the remarkable efficiency of living organisms, which achieve complex behaviors through softness, flexibility, and seamless interaction with their environments. Many species demonstrate how adaptable and energy-efficient movement can emerge without rigid mechanisms: jellyfish propel themselves through gentle pulsation; octopuses manipulate objects with continuous, fluid deformation; corals optimize structure and flow through porous, branching geometries; sea stars and worms rely on hydraulic pressure to extend and contract their limbs. These biological systems show how form, material, and function coevolve to create solutions that are lightweight, responsive, and sustainable. By observing how organisms sense, move, and adapt to external forces, soft robotics seeks to translate nature’s strategies into engineered systems capable of resilient motion, distributed actuation, and harmonious interaction with their surroundings. This research draws from these natural strategies to inform the development of soft, efficient, and environmentally responsive mechanisms.

Seismic Garment, Adriana Cabrera, Moon Ribas fuorisalone.it

Biomimicry & Biometics

Biometic montage biomimicry nature inspired design, montage by Carlotta Premazzi

Image References
  • The Mimosa pudica, also known as the “sensitive plant,” is famous for its ability to respond rapidly to touch, vibrations, or changes in light by folding its leaves and bending its stems. This movement, called seismonastic movement, occurs through changes in water pressure within specialized cells at the base of the leaves, called pulvini. In this way, the plant can protect itself from potential threats, demonstrating a natural system of fast, reversible movement without muscles or rigid structures. Mimosa Pudica https://seedtherapy.com

  • Dynamic Facade inspired from Touch-me-not leafyoutube.com

  • Seahorses use their prehensile tails to anchor themselves to seagrass, coral, or other structures, preventing them from being swept away by currents. zooplus.it

  • Fibonacci Solar Biomimicry – Golden Mean Calipers goldenmeancalipers.com

  • The Sea Iridescent Jellyfish inspires biomimetic design through its soft pulsating movement and naturally iridescent, flexible body, ideal for creating fluid light and motion effects. static.scientificamerican.com

  • Corals inspire biomimetic design through their branching, porous structures that optimize fluid flow, light distribution, and structural strength with minimal material. cdn.biomimicry.net

Biomimicry is the practice of learning from nature to solve human challenges. It studies how living organisms move, adapt, resist, and use energy efficiently, then applies these strategies to engineering, robotics, and design.

By observing natural forms and behaviors, designers connect structure to function, understanding how shapes and materials influence performance. These insights are then translated into innovative and sustainable solutions.

Examples: * Velcro, inspired by burdock seeds. * Soft robots, mimicking the flexibility of octopus arms. * Architectural structures inspired by efficient nests or hollow bones.

inventive principles in nature translated into engineering solutions sense think act

Biology and bioinspiration of soft robotics

  • Overview of the biological actuation and sensing motifs in nature
  • Overview of actuation structural/functional motifs (left) and prototypes (right) in the plant system
  • Soft actuators inspired by plant actuation systems

Biology and bioinspiration of soft robotics: Actuation, sensing, and system integration Ren, Luquan et al., iScience, Volume 24, Issue 9, 103075

Pneumatic Soft Robot

  • Pneumatic Soft Robot

The soft actuator inspired by the elephant trunk

  • The soft actuator inspired by the elephant trunk
  • Soft robot base and tip and two pneumatic chambers.
  • The effects of gravity on bending displacement and stress.
  • Soft robot actuation for selected loading cases

Ambaye, G.; Boldsaikhan, E.; Krishnan, K. Soft Robot Workspace Estimation via Finite Element Analysis and Machine Learning. Actuators 2025, 14, 110

3D printed soft robots

Five-dimensional design space for digital fabrication of custom aeroMorph composites

Five-dimensional design space for digital fabrication of custom aeroMorph composites.

aspect ratio

The width/height aspect ratio of the diamond hinge (a) determines the bending angle at full inflation (b).

Ou, J., Skouras, M., Vlavianos, N., Heibeck, F., Cheng, C., Peters, J., & Ishii, H. (2016). aeroMorph - Heat-sealing Inflatable Shape-change Materials for Interaction Design.(https://cdfg.mit.edu/assets/files/aero-morph.pdf)

Inflatable kirigami actuators

Seyidoğlu, B., Parvaresh, A., Taherkhani, B., & Rafsanjani, A. (2025). Advanced Robotics Research, Article e202500044

References & Inspiration

Soft-Robotics-inspiration-moodboard

Soft Robotics Inspiration Moodboard by Carlotta Premazzi

  • Anouk Wipprecht: Clothing as emotional interface, TED Residency youtube.com

  • Spirobs Shape-Shifting Robot Moves Like an Octopus youtube.com

Reference and Inspiration

Process and workflow

Inflatable Thermo-Vinyl Origami

Inflatable Thermo Vinyl Origami Vector Inflatable Thermo Vinyl Origami Mimosa Pudica and Flower Vector by Carlotta Premazzi

aeroMorphOrigami

"Quick and dirty" handmade AeroMorphOrigami by Carlotta Premazzi

Tutorial – Inflatable Origami Chambers with Vinyl Paper

✅ Goal: Create origami-style inflatable structures inspired by Aero-Morph, using vinyl paper, parchment paper, and a household iron. The parchment paper is used to define the chambers and protect the vinyl during sealing.

📦 Materials Needed:
- Sheets of thermo-vinyl or lightweight vinyl paper
- Parchment paper (to create and protect chamber walls)
- Household iron (low to medium-low heat, no steam)
- Scissors
- Ruler and pencil
- Optional: tubes or valves for inflation

🔧 Step-by-Step Procedure:
1. Design Your Origami Pattern:
- Draw the fold and chamber layout on the vinyl sheets.
- Identify where chambers will be created for inflation.

  1. Prepare the Iron:
  2. Set to low/medium-low heat, no steam.

  3. Ensure it is clean to avoid marking the vinyl.

  4. Layer Vinyl and Parchment:

  5. Place two layers of vinyl together where you want a sealed chamber.

  6. Insert parchment paper between them to define the chamber walls and prevent the iron from touching the vinyl directly.

  7. Seal the Chambers:

  8. Slowly pass the iron over the parchment-covered area.
  9. Move evenly to avoid burning or deforming the vinyl.

  10. Check frequently that the layers fuse correctly to form airtight chambers.

  11. Cut and Fold Origami Structure:

  12. Trim excess vinyl carefully.
  13. Fold along your origami pattern, using sealed chambers as structural elements.

  14. Attach valves or tubes for inflating if needed.

  15. Test Inflation:

  16. Blow gently or use a pump.
  17. Check for leaks and reseal with parchment and iron if necessary.

Results

Pneumatic 3D Soft Robotics

One-direction movement

3D Soft Robotics

3D Soft Robotics montage by Carlotta Premazzi

Tutorial – 3D Printed Mold for Silicone Soft Robot (Pneumatic Chambers)

🧠 Step 1 — Design the Chamber System

  1. Choose your motion type: bending, twisting, elongation, or multi-directional.
  2. Use CAD software (e.g., Fusion360, Rhino, FreeCAD) to model a mold with internal cavities for the air channels.
  3. Include air inlet ports — small cylindrical holes for connecting silicone tubing later.
  4. Export as STL and prepare for 3D printing.

💡 Tip: You can find examples in the “AeroMorph” project by MIT Media Lab, which uses origami-inspired folding patterns to define chamber behavior.

🖨️ Step 2 — 3D Print the Mold

  1. Print using PLA or ABS filament at 0.2 mm layer height.
  2. Use 100% infill for strong walls.
  3. You’ll need two mold parts (top and bottom) or a single mold with open cavities.
  4. Once printed, clean the inside and apply a thin layer of mold release agent (e.g., Vaseline or silicone spray).

🧴 Step 3 — Prepare the Silicone Mixture

  1. Use a soft silicone rubber like:
  2. EcoFlex 00-30 / 00-50 (Smooth-On)
  3. Dragon Skin 10 (for higher durability)
  4. Mix Part A and Part B in a 1:1 ratio.
  5. Stir slowly to avoid bubbles.
  6. (Optional) Add pigment for visual differentiation or aesthetic effect.
  7. Degas the mixture in a vacuum chamber if available.

Step 4 — Casting Process

  1. Pour the silicone slowly into the 3D-printed mold.
  2. Tap the mold gently to remove trapped air bubbles.
  3. Cover with the top mold (if two-part) and fix with rubber bands or screws.
  4. Let cure for 4–6 hours at room temperature or 30 minutes at 60°C in an oven.

🔗 Step 5 — Demolding and Sealing

  1. Carefully remove the cured silicone part from the mold.
  2. Close open surfaces with a thin silicone membrane:
  3. Pour a small layer of silicone on a flat surface (using baking paper).
  4. Once semi-cured, press the actuator onto it to seal.
  5. Cure again for 1–2 hours.
  6. Connect silicone tubing to the air inlet using a syringe or pneumatic pump.

💨 Step 6 — Testing the Soft Robot

  1. Inflate the chambers with air using:
  2. A manual syringe,
  3. A micro air pump, or
  4. A compressed air line with pressure regulator.
  5. Observe motion — chambers expand asymmetrically, causing bending or curling.
  6. Tune wall thickness, chamber geometry, and material softness for desired performance.
Category Items
Printing 3D Printer (PLA/ABS), STL mold file
Casting EcoFlex / DragonSkin silicone, pigments, vacuum chamber (optional)
Assembly Silicone tubing Ø3–5 mm, syringe or air pump, scissors, mold release
Finishing Baking paper, spatula, gloves, oven (optional)

Two-direction movement

3D Soft Robotics2 Pneumatic muscle with two-direction movement by Carlotta Premazzi Experiment failed due to unsealed silicone, but I want go further creating a more complex form.

Star Pneumatic muscle

3D Soft Robotics3

Star Pneumatic muscle Star Pneumatic muscle for jellyfish/flower and his reference by Carlotta Premazzi

Results

Movement Behavior Based on Shape

Shape / Chamber Type Movement Behavior Notes / Tips
Straight chambers ↔️ Linear expansion Produces pushing or extending motion
🌀 Curved chambers 🔄 Bending / curling Use for actuators that need to curl or wrap
🔺 Asymmetric chambers 🔀 Twisting / rotation Creates complex 3D motion
Multi-chamber designs 🔄↔️ Combination of bending, twisting, extension Allows versatile and programmable movements
⚖️ Varying wall thickness ✨ Changes flexibility and speed Thinner walls → more flexible, faster response
📏 Chamber spacing variation 🐢 Modifies deformation patterns Wider spacing → more subtle, slower bending

Motor Control System with Arduino Uno and Keyestudio KS0063 Driver

Arduino Air Pump 12 Volt Air Pump Controlled by Arduino Uno by Carlotta Premazzi

🛠️ Motor Control System with Arduino Uno and Keyestudio KS0063 Driver

✅ Goal: Compact control system to operate a DC air pump/vacuum motor using an Arduino Uno and KS0063 motor driver shield, with user interaction via push button and trimmer to adjust speed.

📦 System Overview: Arduino Uno as central controller, KS0063 shield for high-current motor drive, trimmer for speed control, push button for on/off, with additional effects like speed fading and smooth transitions. All components mounted on a lightweight wooden/cardboard base.

🔧 Main Components: Arduino Uno, breadboard, DC power supply, push button, potentiometer (trimmer), jumper wires, KS0063 shield, DC air pump/vacuum motor, power wires, wooden/cardboard mounting board, soldering iron & solder.

⚡ Electrical Integration: Trimmer to A0 for variable speed, push button to digital pin 7, 10 kΩ pull-down resistor. Motor connected to M1 output, shield amplifies power from external DC supply, all grounds tied together.

📝 Assembly Notes: Motor leads soldered for durability, jumper wires organized, mounting base keeps components accessible for testing, modification, and demonstration.

Code Example

CODE – Motor Control with Arduino Uno & KS0063 Shield 
/*
  💡 Motor Control with Arduino Uno & KS0063 Shield
  09-11-2025 by Carlotta Premazzi, Fabricademy
  file: sketch_motorcontrol_KS0063.ino

  🔧 Description:
  This sketch controls a DC air pump/vacuum motor using an Arduino Uno
  and Keyestudio KS0063 motor driver shield. Motor speed is adjustable
  via a potentiometer (trimmer) and toggled on/off with a push button.

  🧠 How it works:
  - Potentiometer provides analog voltage for speed control.
  - Push button toggles motor state between ON and OFF.
  - KS0063 shield amplifies the Arduino output to drive the motor safely.

  🧩 Required components:
  - Arduino Uno
  - Keyestudio KS0063 Motor Driver Shield
  - DC air pump/vacuum motor
  - Potentiometer (trimmer)
  - Push button
  - Jumper wires, breadboard, soldering materials

  💡 Notes:
  - Button uses pull-down resistor for stable readings.
  - PWM output from Arduino controls motor speed smoothly.
  - All grounds tied together to maintain stable reference voltage.

  🔗 Inspired by:
  KS0063 datasheet & Arduino tutorials for DC motor control

*/

// Pin definitions
const int motorPin = 3;    // PWM output to motor via KS0063
const int buttonPin = 7;   // Push button input
const int potPin = A0;     // Potentiometer analog input

// Variables
int buttonState = 0;
int lastButtonState = 0;
bool motorOn = false;
int speedValue = 0;

void setup() {
  pinMode(motorPin, OUTPUT);
  pinMode(buttonPin, INPUT);
  Serial.begin(9600);
}

void loop() {
  // Read potentiometer
  speedValue = analogRead(potPin) / 4; // Map 0-1023 to 0-255

  // Read button with simple toggle
  buttonState = digitalRead(buttonPin);
  if (buttonState == HIGH && lastButtonState == LOW) {
    motorOn = !motorOn; // Toggle motor state
  }
  lastButtonState = buttonState;

  // Apply motor speed
  if (motorOn) {
    analogWrite(motorPin, speedValue);
  } else {
    analogWrite(motorPin, 0);
  }

  // Debug output
  Serial.print("Motor state: ");
  Serial.print(motorOn ? "ON" : "OFF");
  Serial.print(" | Speed: ");
  Serial.println(speedValue);

  delay(50);
}

3D Models

Jelyfish/flower mold/PART#1 by cpds on Sketchfab

Jelyfish/flower mold/PART#2 by cpds on Sketchfab

Jelyfish/flower mold/PART#3 by cpds on Sketchfab

Fabrication files

Lecture on Tuesday, November 4th, 2025, Global Instructors: Lily Chambers & Adriana Cabrera, Local Instructors: Guilherme Martins, Carlos Roque

  • **Workshops, November 5th, 2025
  • Local Workshop: Research Bio-inspirations

  • Global Tutorial: Talk with Falk J. Tauber

  • **Workshops, November 6th, 2025

  • Local Workshop: Pumps and Arduino, Silicones and moulds
🔗 References & Tutorials

Tutorials, DIY & Making - Molding and Casting Guide - Making Origami Soft Robots from Low Cost Household Materials - Making Inflatables with Thermo Transfer Vinyl - Therms-Up!: DIY Inflatables and Interactive Materials - How to Make Magnetic Soft Materials for Interactive Devices - Instructables – Soft Robotics - Soft Robots 3D Printing Artificial Muscles

Educational Courses & Classes - Fab Academy – Marion Guillaud Week09 - Fab Academy – Stephanie Urbano Week06 - Fab Academy – Loes Bogers Week12 - Fab Academy – Elsa Gil Soft Robotics - Fab Academy – Irene Caretti Week11 Useful Links

Soft Robotics Research & Labs - Zhao Lab – Stanford Soft Robotics - EPFL GCM Lab - Soft Robotics Toolkit – Low-Cost EP Circuit - Soft Robotics Projects – jfras.github.io - Soft Robotics Resources – GitHub - Manufacturing of Soft Robotics – Adrianacabrera - Introduction to Soft Robotics – Adrianacabrera

Soft Robotics Companies & Tools - Air Giants - Soft Robotics Inc. – CHI 22 - SoftModBot - MotorSkins

Arduino & Electronics Tutorials - Arduino DC Motor Control Tutorial – L298N PWM H-Bridge - How to use the Fluidic Control Board?

Simulation & Computational Design - Simulation of Soft Robots & Inflation – YouTube - Simulation of Inflatable Soft Robotics – YouTube - Grasshopper3D Forum – Simulating Soft Robotics - McNeel Discourse – Soft Robots - Computational Design – AeroMorph

Inflatables & Origami Soft Robotics - AeroMorph PDF – MIT - 3D Printed Inflatable Flowers - Origami-Inspired Artificial Muscles – YouTube - Fluid-driven Origami-Inspired Artificial Muscles – PNAS - Active Textile Made of Thin McKibben Muscles – YouTube - Aeromorph Inflatables – YouTube - Curved Origami with Tunable Stiffness – YouTube - Inflatable Kirigami Actuators Image - Seyidoğlu, B., Parvaresh, A., Taherkhani, B., & Rafsanjani, A. (2025). Inflatable Kirigami Crawlers. Advanced Robotics Research, Article e202500044. DOI

Pneumatic & Soft Actuators - Pneumatic Soft Robot Image - Soft Actuator Inspired by Elephant Trunk - Pneu-Net Soft Actuators 3D Deformations - 3D Printed Soft Robots – Hexapus & Pneu-net Actuator - FEA Model of Soft Robotic Actuator - Soft Robot Flower - PneuBots – Modular Inflatables YouTube

Biomimetics & Biological Inspiration - Overview of Biological Actuation Motifs - Overview of Plant Structural/Functional Motifs - Soft Actuators Inspired by Plant Systems - Ren, Luquan et al., Biology and Bioinspiration of Soft Robotics: Actuation, Sensing, and System Integration, iScience, 24(9), 103075. Full Text - Mimosa pudica – Seismonastic Movement YouTube - Fibonacci Solar Biomimicry – Sunflower - Sea Iridescent Jellyfish Inspiration - Seahorses – Prehensile Tail - Corals – Biomimetic Structures

Student checklist

  • [ ] Document the concept, sketches, references (also to artistic and scientific articles)
  • [ ] Make a soft robotic sample, develop the pattern for the Inflatable and draw a sketch of the air flow:
  • build a pneumatic wrist brace (basic level) or
  • build a Soft Gripper (intermediate level) or
  • build and document a Pneumatic, digitally controlled system, electronics schematic, electronic control and code (advanced level) design your own version of an inflatable / soft robot
  • [ ] Experiment with different materials, such as silicone, 3d printing, parchment paper, thermoadesive vynil, TPU fabrics, bioplastic, document your achievements and unexpected outcomes
  • [ ] Make a small video of your inflatable/soft robot working
  • [ ] Upload your digital design files (if any)
  • [ ] Build the electronic circuit to control your inflatable/soft robot (extra credit)