Abstract
We have successfully demonstrated (1) a 3D fabrication/packaging scheme that can integrate layered/segmented elastomer structures to realize multi-degree-of-freedom soft robotics, and (2) a new type of all-elastomer, miniature pneumatic artificial muscles that can be tailored to yield desired locomotion and forces for medical applications. Composite structures of 3D printed, netted elastomer meshes surrounding PDMS bladders are employed to realize the desired actuation, including contraction, elongation, bending, twisting, and their combinations. As such, soft medical robotics with sophisticated functions could potentially be accomplished.