8. Soft robotics

Introduction and Concept

Today, I started learning about Soft Robotics, and I’m genuinely excited to dive into this new area of exploration. Coming from a background that values creativity and material experimentation, I find it fascinating how soft robotics merges design, biology, and technology to create objects that can move and interact in almost lifelike ways.

Soft robotics focuses on designing flexible and adaptive systems that draw inspiration from nature—like how an octopus moves or how plants react to their surroundings. Instead of using hard materials and rigid joints, soft robots are made from silicones, fabrics, or inflatables, allowing them to bend, stretch, and respond gently to external forces.

This week, I’m eager to experiment with casting and molding techniques, learn how air pressure and movement can transform materials, and see how design can bring softness and sensitivity into the world of robotics.

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get inspired!

Check out and research alumni pages to betetr understand how to document and get inspired

• materials comparison - Julija Karas - FabLab Bcn

• Artistic intervention - Riley Cox - TextileLab Amsterdam

• Zahia Albakri - CPF Makerspace

• Viviane Labelle - EchoFab

Add your fav alumni's pages as references

References & Inspiration

1. moschino Moschino spring summer 2023 ready to wear,founded in 1983 by Franco Moschino. they presented inflatable accessories and details for the Spring 2023 Collection. :Moschino’s Spring/Summer 2023 collection, “Inflation Chic,” by Jeremy Scott, humorously addressed the global economic climate by incorporating inflatable pool toys and accessories into playful, joyous runway designs.

2. jackirving Jack Irving is an artist originally from Blackpool (UK) and now runs his own design studio in East London. Jack’s futuristic vision fuses the worlds of fantasy and experimental design. He is heavily inspired by deep sea life and nature, often experimenting with the concept of shape, silhouette and transformation.

3. choe u-ram A South Korean artist known for creating kinetic sculptures that move with lifelike grace. His works combine mechanics, robotics, and organic forms, often resembling creatures that breathe or evolve. Though made from metal, their motion embodies the fluid and delicate qualities that soft robotics aims to achieve

4. casey surran An American artist who creates intricate kinetic sculptures made of delicate wire, paper, and mechanical systems. His pieces move slowly, like living organisms — echoing the organic motion of soft robots. Curran’s art reflects the tension between human-made systems and natural growth.

Tools

GENERAL TOOLS

- Straws
- Air pump

HEAT PRESS VINYL

- Baking Paper
- Vinyl Sheets
- Scissors
- Heat Press
- Laser Cutter
- Ciricut Machine
- Blender
- Adobe Illustrator

TPU WELDING

- TPU
- Laser Cutter
- Blender
- Adobe Illustrator

SILICON CASTING

- Eco Flex Silicon Rubber
- Acrylic Sheet
- Laser cutter
- Acryclic Glue
- Cups and stirring utensils
- Weighing Scale

BIO SILICION CASTING

- Gelatin
- Glycerin
- Water
- Acrylic Sheet
- Laser cutter
- Acryclic Glue
- Cups and stirring utensils
- Weighing Scale

HEAT PRESS VINYL

The heat press vinyl soft robotics actuator is created by layering two sheets of heat-activated vinyl with a baking paper stencil placed in between to form air channels. When pressed under heat, the vinyl layers fuse everywhere except where the baking paper blocks contact, leaving hollow paths for air. Once the baking paper is removed, these channels become inflatable pockets. Air is then pumped through a small tube inserted at one end, causing the sealed vinyl structure to expand and bend according to the air channel pattern.

Top: Saskia Helinska, Soft Robotics Assignment. Bottom: Asli Aksan, Soft Robotics Assignment, experiments with bending and twisting

vinyl inflatables

For my first inflatable prototype, I designed an X-shaped structure. The process began by cutting the shape from baking paper, which served as the base layer. I then applied a sheet of heat transfer vinyl (HTV) on top of the baking paper and sealed the layers together using a heat press machine to create the air-tight seams. Once the pressing process was complete, I peeled off the plastic carrier film from the vinyl surface. However, one error occurred during fabrication — I forgot to leave an air valve opening, which made it impossible to inflate the structure. This highlighted the importance of planning an air channel or inflation port in the initial design stage for future prototypes.

Second Experiment

this time i remembered to leave an air valve opening

## MOULDING AND CASTING INFLATABLES

For this experiment, I used a laser cutter to create a mould for casting my design. The goal was to make a soft robotic air gripper that could inflate and flex when air was introduced. I chose silicone as the casting material because of its flexibility, durability, and air-tight properties, which make it ideal for soft robotics applications. This process allowed me to explore how mould design and material choice influence the performance and movement of inflatable soft structures.

Step1: Designing the Shape in Adobe Illustrator

I began the process by creating the initial shape in Adobe Illustrator. Using vector tools, I designed the outline of the soft robotic gripper, ensuring the form was symmetrical and suitable for air channels. The design was made with clear paths and closed shapes to ensure accurate cutting later in the process. Once finalized, I exported the file in a compatible format in SVG for use with the laser cutter, preparing it for mould fabrication.

Step2: Transferring the Design to the Laser Cutter

After finalizing the design in Adobe Illustrator, I transferred the file to the laser cutter software. I adjusted the cutting settings such as power, speed, and material thickness to ensure precision and clean edges. Once the settings were configured, I loaded the chosen material as acrylic into the machine and sent the design to be laser cut. This process produced the mould components that would later be assembled and used for casting the silicone.

Step3: Mixing and Casting the Silicone

In this step, I prepared the silicone mixture by combining the base and curing agent in the recommended ratio and stirring thoroughly to achieve a uniform consistency. Once mixed, I poured the silicone carefully into the laser-cut mould, ensuring that it filled all sections evenly without trapping air bubbles. After casting, I left the mould to air dry and cure for approximately 2 to 3 hours, allowing the silicone to solidify and take the desired shape before demoulding.

step4: Sealing the Silicone Pieces Together

After the silicone had fully cured and was removed from the mould, I applied a thin layer of fresh silicone along the edges to bond the separate pieces together. This step was essential to create airtight seams, allowing the structure to hold air once inflated. I carefully aligned the parts and pressed them together, ensuring an even seal. The assembled piece was then left to dry and cure completely.

## Soft Robotic Gripper (No 3D Printer Required)

This is an online tutorial we found on Instructables, to make a cartboard mold for our molding and casting.

Instructables Link

step1: Cut the Mold Components

To make this mold you will need to cut 14 rectangles out of cardboard.

9 - 2.5" x 0.5"
6 - 3.5" x 0.75"
2 - 9" x 9"

Using scotch tape, two of the 2.5" x 0.5" pieces together so that they form a block. This structure will be referred to as a "block" throughout this instructable.

step2: Make the Blocks

Seal the edges by wrapping a strip of scotch tape around the block. Make sure the block is centered in the strip. Fold down the edges of the tape on both top and bottom of the block.

step3: Seal the Blocks and assemble the mold

Take one of the 9" x 9" pieces of cardboard and draw a dot in the center. Place each of the blocks so that they radiate outwards at approximately 120 degree angles with the center-most face spaced 3/4" from the center dot. Spread a thin layer of hot glue over the edges of the tape for a smooth finish. Repeat with the remaining 2.5" x 0.5" pieces of cardboard to make two additional blocks.

step3: glue the blocks and walls

hot glued the the box to the cardboard in their current positions, then trace the bottom edges of each block with hot glue this prevents rubber from flowing into the small gaps between the block and the mold. draw lines offfset 1/4' from the base blocks, glue the walls tape-side-down on these offset lines. the wall should meet in the center and glue the end together

step4: Prepare the silicone

Mix equal volumes of A and B together for three minutes