Soft Robotic Manipulation and Locomotion with a 3D Printed Electroactive Hydrogel

TLDR

Electroactive hydrogels that deform significantly under electric fields are promising soft‑robot actuators, yet their use has been constrained by traditional 2‑D fabrication techniques. This study introduces soft robotic manipulation and locomotion using 3‑D printed electroactive hydrogel microstructures. By employing a digital‑light‑processing micro‑3D printing process, the authors achieve precise 3‑D designs and dimensional control, enabling complex hydrogel actuations. The resulting devices can grip and transport objects and perform bidirectional locomotion, demonstrating functional soft‑robotic actuation.

Abstract

Electroactive hydrogels (EAH) that exhibit large deformation in response to an electric field have received great attention as a potential actuating material for soft robots and artificial muscle. However, their application has been limited due to the use of traditional two-dimensional (2D) fabrication methods. Here we present soft robotic manipulation and locomotion with 3D printed EAH microstructures. Through 3D design and precise dimensional control enabled by a digital light processing (DLP) based micro 3D printing technique, complex 3D actuations of EAH are achieved. We demonstrate soft robotic actuations including gripping and transporting an object and a bidirectional locomotion.