A Recipe for Electrically-Driven Soft Robots via 3D Printed Handed Shearing Auxetics

Electrically-mediated actuation schemes offer great promise beyond popular pneumatic and suction based ones in soft robotics. However, they often rely on bespoke materials manufacturing approaches that constrain design flexibility widespread adoption. Following the recent introduction of a class architected called handed shearing auxetics (HSAs), we present 3D printing method for rapidly fabricating HSAs HSA-based robots can be directly driven by servo motors. To date, HSA fabrication has been limited to laser cutting extruded teflon tubes. Our work expands palette include flexible elastomeric polyurethanes. Herein, investigate influence material composition geometry printed HSAs’ mechanical behavior. In addition individual performance, evaluate two robotic systems - four degree-of-freedom (DoF) platforms grippers confirm perform similarly original designs. Finally, demonstrate new capabilities with HSAs, including fully fingers, higher force generation multi-DoF devices, demonstrations internal endoskeletons. We anticipate our methods will expedite integration novel electrically-driven facilitate broader adoption field.