Fig. 4.

Practical use cases for STAUD-prepreg controlling compliant systems. a Life-like complex grasping motion akin to cephalopod tentacles accomplished by a cylindrical actuator. Scale bar: 100 mm. b Planar soft body with eight tentacles for use as a pop-up gripper. Adhering STAUD-prepreg patches gives rise to specific movements of individual tentacles that previously inflated without directional bias. Scale bar: 50 mm. c Conventional balloon with adhered STAUD-prepreg patches. The fiber orientation and dimension of the applied patches determine the inflation trajectories of the balloon. Scale bar: 50 mm. d A tensegrity robot consisting of rigid struts and soft membrane actuators made from STAUD-prepreg. A combination of rigid components and soft, planar actuators allows this hybrid system to roll from face to face by inflating the membrane actuators to locally destabilize itself. Scale bar: 200 mm