To advance the field of soft robotics, a unified database of material constitutive models and experimental characterizations is of paramount importance. This will facilitate the use of finite element analysis to simulate their behavior and optimize the design of soft-bodied robots. Samples from seventeen elastomers, namely Body Double™ SILK, Dragon Skin™ 10 MEDIUM, Dragon Skin 20, Dragon Skin 30, Dragon Skin FX-Pro, Dragon Skin FX-Pro + Slacker, Ecoflex™ 00–10, Ecoflex 00–30, Ecoflex 00–50, Rebound™ 25, Mold Star™ 16 FAST, Mold Star 20T, SORTA-Clear™ 40, RTV615, PlatSil^® Gel-10, Psycho Paint^®, and SOLOPLAST 150318, were subjected to uniaxial tensile tests according to the ASTM D412 standard. Sample preparation and tensile test parameters are described in detail. The tensile test data are used to derive parameters for hyperelastic material models using nonlinear least-squares methods, which are provided to the reader. This article presents the mechanical characterization and the resulting material properties for a wide set of commercially available hyperelastic materials, many of which are recognized and commonly applied in the field of soft robotics, together with some that have never been characterized. The experimental raw data and the algorithms used to determine material parameters are shared on the Soft Robotics Materials Database GitHub repository to enable accessibility, as well as future contributions from the soft robotics community. The presented database is aimed at aiding soft roboticists in designing and modeling soft robots while providing a starting point for future material characterizations related to soft robotics research.

中文翻译：

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建立软机器人材料的通用框架和数据库


为了推进软机器人领域的发展，材料本构模型和实验表征的统一数据库至关重要。这将有助于使用有限元分析来模拟它们的行为并优化软体机器人的设计。样品取自 17 种弹性体，即 Body Double™ SILK、Dragon Skin™ 10 MEDIUM、Dragon Skin 20、Dragon Skin 30、Dragon Skin FX-Pro、Dragon Skin FX-Pro + Slacker、Ecoflex™ 00–10、Ecoflex 00–30、 Ecoflex 00–50、Rebound™ 25、Mold Star™ 16 FAST、Mold Star 20T、SORTA-Clear™ 40、RTV615、PlatSil ^® Gel-10、Psycho Paint ^®和 SOLOPLAST 150318 根据ASTM D412 标准。详细描述了样品制备和拉伸测试参数。拉伸测试数据用于使用非线性最小二乘法推导超弹性材料模型的参数，并将其提供给读者。本文介绍了多种商用超弹性材料的机械表征和由此产生的材料特性，其中许多材料已被认可并普遍应用于软机器人领域，还有一些从未被表征过。用于确定材料参数的实验原始数据和算法在软机器人材料数据库GitHub 存储库上共享，以实现可访问性以及软机器人社区的未来贡献。所提供的数据库旨在帮助软机器人专家设计和建模软机器人，同时为与软机器人研究相关的未来材料表征提供起点。