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8. Soft robotics

Exploring Soft Robotics¶

Soft robotics is a branch of robotics that uses flexible, deformable materials instead of rigid mechanical parts. It takes inspiration from nature — from octopus arms, muscles, plants, and skin — to create robots that move, adapt, and interact safely with humans and their surroundings. This is absolutely new world for me, which I met this week thanks to Fabricademy course.

Soft robotics is about making machines that behave more like living organisms: compliant, resilient, and sensitive.

Key Characteristics

Materials: silicones, elastomers, hydrogels, shape-memory polymers, textiles, and liquid metals.
Actuation: pneumatic or hydraulic systems, magnetic fields, electro-active polymers, or even light.
Design philosophy: biomimicry — imitating how natural organisms move and adapt.

Potential Application Areas

Here is an inspiring example of using soft robotics for self-moving garments creation by Swedish School of Textiles graduate Pola Demianiuk. 

- Inflatable or shape-changing structures in architecture and interactive design.

For example, the BMW Design Department in collaboration with MIT’s (Massachusetts Institute of Technology) Self-Assembly Laboratory have successfully developed printed inflatable material technologies that self-transform, adapt and morph from one state to another.

Process and workflow

We started our experiments in the lab by working with vinyl models. At first, we went through the entire preparation process together with Anush Arshakyan. Once we better understood the sequence of steps, how the vinyl cutter works, and how to assemble the models, we began creating our own designs.


Photos by Mariam Baghdasaryan

Step 1

After learning the technique of making soft robots using vinyl film and air, I immediately wanted to create a model of a 3D geometric shape that could transform from a flat sheet into a pyramid or a cube.

I decided to go with a cube. I wanted to get at least a little closer to the results of the Aeromorph project by the MIT Media Lab.

Step 2

I used a cube net with sides of 5 × 5 cm and added a small piece to attach the air tube. To form the edges, I followed a tip from the Soft Robotics lecture and made them in the shape of flat diamonds.

Here's a scheme of 1 layer of vinyl + baking paper.

The assembly way should be the same as on the slide below.

Before making the full cube, following Anush’s recommendation, I first created a small sample with just two sides to test the movement.

After testing my design on a sample made of two squares, I came to a few conclusions:
- I increased the seam width to 8 mm.
- I rounded the corner where the rectangle connects to the main part — this area was quite difficult to seal properly on the test sample.
- I did the actuator diamonds flatter, to make folding more efficient.

Here’s what my design looks like for cutting on the vinyl cutter.

Here’s what my design looks like for cutting on the laser cutter.

Step 3

We cut the pieces using the vinyl cutter. (More details about the cutter are below.)
From the pre-cut vinyl sheet, we carefully cut out our model pieces.

Step 4

We cut an additional piece out of baking paper. All the baking paper parts will serve as the air channels.

Step 5

Between two layers of vinyl, we place the baking paper piece and seal them together with an iron. It’s important to be precise here: the vinyl layers should face inward, while the transparent protective film stays on the outside.
At the spot where the air needs to enter, we attach a small heat-shrink tube and insert a regular PVC tube inside it. After sealing the layers, we remove the protective film and check if everything is airtight. If any areas leak air, they can be resealed with an iron — just make sure to cover them with the film first. It’s important not to overheat the vinyl, as it can easily melt. I managed to get it right on the second try — my first sample got damaged during sealing.


Photos by Mariam Baghdasaryan

We test the model. It doesn’t inflate into a perfect cube, but the movement of the faces goes in the desired direction, which was the goal.

Report on Vinyl Cutting Process (Roland CAMM-1 Servo)

1. File Preparation

The vector file was prepared in CorelDRAW. All cutting lines were defined as hairline contours.

2. Material Setup

The vinyl sheet was loaded into the plotter, and the “Piece” mode was selected.
The material was fed forward to a position of Forth = 130 mm to ensure enough working space.

The plotter automatically measured the dimensions of the loaded piece, and these values were used to set the page size in CorelDRAW, ensuring accurate alignment between the digital file and the physical material.

3. Test Cut

Before sending the main job, a test cut was performed directly from the plotter’s control panel.
This allowed us to check the cutting depth and blade pressure.

The test result showed a clean cut through the vinyl layer without damaging the backing paper, confirming that the settings were correct.

4. Cutting Settings

Cutting parameters were adjusted as follows: - Speed: 20 cm/s
- Force: 130 gf
- Blade offset: 0.25 mm

These parameters were suitable for standard adhesive vinyl.

5. Sending the File to the Plotter

The file was sent directly from CorelDRAW, choosing the Roland Cut as printer.
In the print dialog: - The CutContour color was recognized as the cutting path.
- The Media size matched the measured piece size from the plotter.
- Print Type: Cut only was selected.
- Orientation: verified to match the material feed direction.

After confirming all settings, the job was sent to the plotter for execution.

6. Result

The plotter completed the cutting accurately, following the contours of the design.
The final piece was successfully weeded and ready for application.

Fabrication files

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