Fig. 4: CM 3D printing of soft actuator with multiple sensors.
From: Centrifugal multimaterial 3D printing of multifunctional heterogeneous objects
a Schematic illustration of the SPA with multiple sensors. b Materials used to form different parts of the SPA. c Snapshots of a printed SPA. d Relation between inflation pressure and bending angle of the SPA. e Response of three sensors when inflation pressure applied. f Response of the pressure sensor when the SPA contacts a rigid obstruction. g Response of the temperature and pressure sensors when temperature increases. h Snapshots of a soft robotic gripper that grabs different objects. i, Readouts of the three sensors when the gripper grabs objects in (h). j Snapshots of a soft robotic gripper that grabs objects with different temperatures. k Readouts of the three sensors when the gripper grabs objects in (j). Scale bars in (c, h, j), 10 mm.
