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. 2018 Mar 8;19(1):243–262. doi: 10.1080/14686996.2018.1431862

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© 2018 The Author(s). Published by National Institute for Materials Science in partnership with Taylor & Francis

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Figure 1. — Examples of printed soft robots and soft devices. (a) Pre-strained polystyrene substrate with inkjet-printed hinges made of carbon black ink. (b) 3D-printed jumping soft robot. (c) 3D stereolithography-printed bat with curvature time lapse. (d) 4D-printed composite with swellableable hinges. (e) 4D-printed unfolded box composed of shape memory polymers. (f) A jumping soft robot with 3D-printed mould. (g) 4D printing of hydrogel composites for soft robotic applications. (h) A snake inspired soft robot with 3D-printed mould. (i) Multi-step 3D-printed octobot. (j) Pneumatic actuator for spinal compression and flextion with 3D-printed mould. (k) Embedded 3D printing of soft strain sensor for soft robots. (l) Multicore print head shell capacitive sensor.