Scalable manufacturing of high force wearable soft actuators

For future applications of soft robotics, mass production of complex actuators that can apply high forces is necessary. In this paper, rotational casting is adapted as a new manufacturing method for soft actuators. The criteria for both mold design and material properties of the elastomeric precursors to produce networks of pneumatic channels are described. A cuboid soft actuator that can generate a force of >25N at its tip, a near ten-fold increase over similar actuators previously reported is presented. Additionally, this manufacturing technique is used to fabricate a wearable assistive device for increasing the force a user can apply at their fingertips.