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. 2021 Jul 14;7(29):eabe5257. doi: 10.1126/sciadv.abe5257

Fig. 1. Design and additive manufacturing strategy for PolyJet 3D printing unified soft robotic systems comprising fully integrated fluidic circuitry in a single print run.

Fig. 1

(A) Modular 3D CAD models and analogous electronic circuit symbols of fluidic circuit elements, fluidic interconnects, soft actuators, and structural casing. (B) CAD model and corresponding analogous circuit diagram of a unified soft robot with a fully integrated fluidic oscillator circuit. (C) Conceptual illustration of multimaterial PolyJet 3D printing the soft robot using compliant (black), rigid (white), and water-soluble support (yellow) materials. (D) Sequential time-lapse images of the PolyJet 3D printing process. Scale bar, 5 cm; see also movie S1. (E and F) Fabrication results for the unified multimaterial soft robot with integrated fluidic circuitry (E) before and (F) after support material removal. Scale bars, 2 cm. Photo credits: Ruben Acevedo, University of Maryland College Park.