Advanced Materials

Robotic Tentacles with Three-Dimensional Mobility Based on Flexible Elastomers

Authors

  • Ramses V. Martinez,

    1. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA
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  • Jamie L. Branch,

    1. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA
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  • Carina R. Fish,

    1. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA
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  • Lihua Jin,

    1. School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA
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  • Robert F. Shepherd,

    1. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA
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  • Rui M. D. Nunes,

    1. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA
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  • Zhigang Suo,

    1. Kavli Institute for Bionano Science & Technology, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA
    2. School of Engineering and Applied Sciences, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA
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  • George M. Whitesides

    Corresponding author
    1. Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA
    2. Kavli Institute for Bionano Science & Technology, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA
    3. Wyss Institute for Biologically Inspired Engineering, Harvard University, 60 Oxford Street, Cambridge, MA 02138, USA
    • Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA 02138, USA.
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Abstract

Soft robotic tentacles that move in three dimensions upon pressurization are fabricated by composing flexible elastomers with different tensile strengths using soft lithographic molding. These actuators are able to grip complex shapes and manipulate delicate objects. Embedding functional components into these actuators (for example, a needle for delivering fluid, a video camera, and a suction cup) extends their capabilities.

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