Fig. 2.

Basic programmed inflation trajectory of 2D/3D soft bodies and mechanical characterization of STAUD-prepreg. a Inflating cylindrical actuator wrapped with one STAUD-prepreg lamina at different fiber orientations of θ = 90°, 0° and 45°. Experimental results are juxtaposed with analytical results from augmented classical laminate theory (ACLT). Legend color codes apply to all plots. Scale bar: 25 mm. b Planar soft body consisting of two silicone rubber films and reconfiguration of its inflation trajectory by adhering one STAUD-prepreg. Scale bar: 25 mm. c Quasi-static uniaxial tensile testing results for STAUD-prepreg. E₁ and E₂ denote the Young’s modulus of the STAUD-prepreg along the fibers (θ = 0°) and perpendicular to the fibers (θ = 90°), respectively. Higher fiber content in the prepreg results in lager values of E₁ and E₂. E₁ is ~1000-times greater than E₂