The development of accessible, scalable, and sustainable soft robotic actuators is critical for expanding their use in educational environments and specialized applications. This study introduces a modular fabrication approach based on soluble polymer inserts (SIAs), enabling the creation of robust, customizable, and environmentally friendly soft actuators using widely available materials. Unlike traditional two-part molding methods that suffer from delamination and structural weakness, the SIA technique employs a single continuous pour of silicone, embedding a sacrificial insert that is later dissolved to form hollow pneumatic channels. This monolithic design significantly enhances durability while maintaining high actuation performance.
The fabrication process begins with designing a mold featuring a claw mechanism that secures the insert during casting. The insert—crafted from 3D-printed PVA, polystyrene (PS), or even molded sugar—is precisely shaped to replicate complex pneumatic network geometries. Once assembled within the mold, Ecoflex 00-50 silicone is poured around the insert and cured at room temperature. After curing, the actuator is removed and the insert dissolved using acetone (for PS) or heated water (for PVA and ABS). PS dissolves almost instantly, making it ideal for rapid prototyping, while PVA requires several hours under heat but offers superior precision. ABS dissolves slowly over days, allowing for intricate designs without compromising integrity.
To improve actuation efficiency, we introduced cell division (CD) into the mold design, dividing each chamber with thin walls. This modification reduces inflation pressure requirements and increases bending range, with +2.0 mm CD actuators achieving actuation angles exceeding 270°. Performance testing confirmed that SIAs outperformed conventional pneunets in both pressure resistance and consistency, with +claw -CD and +claw +1.5 mm CD variants showing the most reliable results. Even under repeated pressurization up to 115 psi, these actuators exhibited no rupture, demonstrating suitability for high-cycle classroom use.
Beyond standard silicon-based actuators, we extended the SIA platform to biodegradable and edible applications. Gelatin-based actuators were fabricated using commercially available Haribo candy, with inserts made from granulated, superfine, or caramelized sugar. Scanning electron microscopy revealed that smaller particle sizes dissolved faster, informing optimal material selection. Caramelized sugar proved more structurally stable than compacted forms, preserving shape during casting. These edible actuators could be inflated to 115 psi and demonstrated controlled bending behavior similar to non-edible versions.
A complementary method—removable insert actuators (RIAs)—was developed for cases where permanent dissolution is not desired. Insoluble PLA inserts were modified with sloped and rounded edges to facilitate manual removal after curing. When sprayed with mold release agent, these inserts could be easily extracted using pliers, leaving behind a clean pneumatic network embedded in the gelatin matrix. This approach enables reuse and customization, broadening the applicability of the system.Cytokeratin Antibody In Vivo
Classroom trials with students aged 13–18 confirmed the method’s accessibility and educational value.BTK Antibody Description In just two 40-minute sessions, groups built functional actuators, learned about fluid dynamics and robotics principles, and explored real-world applications.PMID:34991445 The modularity of the SIA/RIA platform allowed for rapid iteration and creative problem-solving. Furthermore, an assistive ceramic glove prototype demonstrated how SIAs can mirror human motion through force feedback, helping students produce symmetrical clay pots by replicating a teacher’s hand pressure.
This research establishes a versatile, low-cost, and eco-conscious framework for soft actuator fabrication. By combining simplicity, durability, and sustainability, the SIA method empowers educators and students alike to explore soft robotics with confidence. It not only advances STEM learning but also paves the way for future innovations in wearable technology, rehabilitation devices, and biodegradable robotics.MedChemExpress (MCE) offers a wide range of high-quality research chemicals and biochemicals (novel life-science reagents, reference compounds and natural compounds) for scientific use. We have professionally experienced and friendly staff to meet your needs. We are a competent and trustworthy partner for your research and scientific projects.Related websites: https://www.medchemexpress.com
