Soft robotic tentacles that move in three dimensions upon pressurization are fabricated by composing flexible elastomers with different tensile strengths using soft lithographic molding. These actuators are able to grip complex shapes and manipulate delicate objects. Embedding functional components into these actuators (for example, a needle for delivering… (More)
A soft machine composed of a composite of elastomer and fibers resists puncture from sharp objects, and continues to operate even if punctured.
Locomoting soft robots typically walk or crawl slowly relative to their rigid counterparts. In order to execute agile behaviors such as jumping, rapid actuation modes are required. Here we present an untethered soft-bodied robot that uses a combination of pneumatic and explosive actuators to execute directional jumping maneuvers. This robot can autonomously… (More)
This paper describes the fabrication of pressure-driven, open-channel microfluidic systems with lateral dimensions of 45-300 microns carved in omniphobic paper using a craft-cutting tool. Vapor phase silanization with a fluorinated alkyltrichlorosilane renders paper omniphobic, but preserves its high gas permeability and mechanical properties. When sealed… (More)
The design of devices that handle liquids, or control the transport of gases, would benefi t from new materials, and from repur-posing currently available materials to have new properties and functions. To channel or restrict the fl ow of liquids requires non-permeable materials; to transport gases requires porous media. Porous, water-repellent materials… (More)