Aerosol Jet Printing for the Manufacture of Soft Robotic Devices

Soft robotics is a fast growing field of engineering where there are significant opportunities to realize new forms of actuation and sensing. However, there is also a challenge to translate some of the lab-based developments into a robust industrial manufacturing process. Linked to this is also the opportunity to create new forms of functionality in soft robotic devices by employing a flexible, digital manufacturing process for their creation. Overcoming these hurdles, and unlocking the possibilities for greater functionality, is likely to be a key enabler for wider applications and adoption of soft robotics in practical applications. We present a system of computer-controlled Aerosol Jet Printing that will enable complex soft robotic structures to be manufactured. The process is demonstrated through the deposition of a carbon-based conductive ink on to elastomeric substrates for high resolution, conformal and multilayer patterning. Functional demonstrators, in the form of a dielectric elastomer actuator and strain sensor, are produced to showcase the potential of the technique.