Poroelastic Foams for Simple Fabrication of Complex Soft Robots

Abstract

Open-celled, elastomeric foams allow the simple design of fully 3D pneumatic soft machines using common forming techniques. This is demonstrated through the fabrication of simple actuators and an entirely soft, functional fluid pump formed in the shape of the human heart. The device pumps at physiologically relevant frequencies and pressures and attains a flow rate higher than all previously reported soft pumps.

Keywords: actuators; compliant structures; foams; pneumatic pressures; soft robotics.