Domenic Cipollone¹, Derek Doyle², Konstantinos Sierros¹; ¹West Virginia University, ²Air Force Research Laboratory

Soft robotics have garnered significant attention over the past few years due to their high conformability, inherent compliance, and ability to perform delicate tasks. Typically, these robots are unaware of their environment and surroundings. Paramount to the development of intelligent, adaptable soft robotics is the inclusion of embedded sensing elements. Notably, the advent of 3D printing, specifically direct ink writing, allows for the facile, one-step manufacturing of both the elastomeric soft robot structure and the embedded circuitry and sensing elements.In this work, we report on the fabrication of soft robotic actuators via direct ink writing, coupled with the printing of embedded sensors and circuitry. GE silicone, an inexpensive silicone elastomer, is used to fabricate the soft robotic body, enabling room temperature direct writing with no post processing. Simultaneously, silver elastomeric conductive ink is synthesized and tailored, enabling compatibility with the soft robotic component and direct writing process.