8. Soft robotics¶
Research¶
This assignment explores soft-robotic structures inspired by programmable self-folding systems. Soft robotic chains are made from flexible materials combined with actuators that allow the structure to bend, curl, fold, twist, and reconfigure depending on the task.
Instead of using rigid mechanical joints, these systems rely on:
pneumatic air chambers
heat-activated folds
elastic deformation
shape-memory or programmable material behavior
The advantage of soft robotic chains is that their movement is organic, adaptable, and safe for interaction with the human body. This makes them suitable for medical wearables, assistive devices, bio-inspired motion studies, and responsive textiles.
The core concept in this research is programmable self-folding — where geometry + material + actuation work together to create intentional deformation.
These mechanisms enable:
bending segments
curling motions
gripping actions
locomotion / crawling
environmental response
Soft robotic chains demonstrate how a single system can transform into multiple shapes and functions depending on programmed inputs.
References & Inspiration¶
.Soft actuators and bending mechanisms
.Origami-inspired robotics
.Silicone-based pneumatics
.Modular robotic chains
These ideas help guide the design process and the prototypes developed in this assignment."
Tools¶
Arduino UNO
Arduino IDE
Silicone molds layered sheet
Air pump / syringe
Tubing and connectors
heat press
Cutting tools or laser cutting
Process and workflow¶
For my first experiment, I wanted to see how air could create movement in a flat material. I used thermal vinyl sheets and baking paper to make an inflatable shape using the heat press. By sealing the edges and leaving a small air inlet, I created an air chamber that expands when inflated.
This experiment helped me understand:
how sealing patterns control movement
which parts inflate more or less
how flat sheets can transform into 3D forms
the relationship between air pressure and bending
The inflatable structure showed clear soft-robotic behavior: when air was introduced, the material bent and curved rather than expanding uniformly. This confirmed that flat materials can be programmed to move simply through geometry + heat-sealed seams + air pressure.
Step 1 — First Inflatable Model
This model was obtained by sealing two layers of thermal vinyl together using baking paper to protect the surfaces in the heat press. I intentionally designed void lines and sealed areas so that only specific parts inflated.
Process summary:
I cut the vinyl into the desired shape
Placed baking paper on both sides
Heat-pressed the edges to seal the material
Left an air inlet opening
Inflated the piece using air
Result:
the material curved and lifted
movement changed depending on seam pattern
air pressure could be manually controlled
This experiment forms the base for developing pneumatic soft-robotic elements.
