Soft robotic devices can be used to demonstrate mechanics, robotics, and health care devices in classrooms. The complexity of soft robotic actuator fabrication has limited its classroom use. We propose a single-mold method of fabricating soluble insert actuators (SIAs) to simplify existing actuator fabrication methods using common accessible materials. This was accomplished by embedding molded soluble structures into curing polymer with custom molds and later dissolving the internal structure, leaving behind a hollow pneumatic network. Compared with similar actuators, SIAs actuated with comparable deformations while withstanding higher pressures for longer durations. SIAs have simple and accessible fabrication, resulting in durable actuators. We propose this method of actuator fabrication for use in K-12 schools to engage young students in this emerging field. In addition to silicone actuators, we show application of SIAs in biodegradable actuator fabrication, in a simplified model for classroom demonstration, and use in a glove designed to teach students the tactile art of ceramics.

中文翻译：

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可溶性聚合物气动网络和单次浇注系统可提高软机器人执行器的可访问性和耐用性

软机器人设备可用于在教室中演示机械、机器人和医疗保健设备。软机器人执行器制造的复杂性限制了其在课堂上的使用。我们提出了一种制造可溶性插入式致动器 (SIA) 的单模方法，以简化使用常见可访问材料的现有致动器制造方法。这是通过使用定制模具将模制可溶性结构嵌入固化聚合物中，然后溶解内部结构，留下中空气动网络来实现的。与类似的致动器相比，SIA 以可比的变形致动，同时在更长的时间内承受更高的压力。SIA 的制造简单且易于使用，从而产生耐用的执行器。我们提出了这种用于 K-12 学校的致动器制造方法，以吸引年轻学生参与这一新兴领域。除了硅胶致动器之外，我们还展示了 SIA 在可生物降解致动器制造中的应用，在课堂演示的简化模型中，以及在设计用于教授学生陶瓷触觉艺术的手套中的应用。