IEEE Robotics & Automation Magazine - September 2015 - 132

C
F
W

M

W

T
B

Flapping Fins

(a)

(c)

(b)

(d)

(e)

3s
(f)

4.5 s
(g)

Figure 6. The bending of polymers for aquatic locomotion in soft-matter robots: (a) fish-like swimming with a polyoxymethylene body
and a silicone-based elastomer tail actuated by a pair of frog muscles [29], (b) manta-ray-like swimming with polypropylene elastomer
fins [57], (c) fish-like swimming with a tail containing a hydrogel notochord actuated by a servo motor [30], (d) jellyfish-like swimming
with polydimethylsiloxane actuated by cardiomyocytes [31], (e) jellyfish-like swimming with silicone-based elastomer actuated by a shapememory alloy composite [32], (f) octopus-like swimming with silicone-based elastomer actuated by cables and servo motors [33], and (g)
octopus-like swimming with ionic stimuli-responsive hydrogel [58].

process similar to the fused filament fabrication technique
in rapid prototyping. A servo motor was used for extruding
the fluidic TPA, while the shaping process was actuated by
joint motors in the robot arm. The scoop and the gripper
were used as reconfigurable end effectors to
pick up and place liquid
Bending represents
and lightweight solid objects across three orders
the most common
of magnitude [39].
There are three comdeformation behavior
mon features when transformation of soft matter
in a solid structure.
is used for robotic functions. First, phase transition is required. Different from flowing deformation, phase
transition in transformation does not necessarily need to be
bidirectional. The transition process is usually natural and
passive as shapes are being formed. Second, adhesion of soft
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September 2015

matter is needed because formed passive structures need to
be integrated into the robotic system with a force endurance
capacity. Third, the transformation or reconfiguration process has been so far controlled in a similar way in additive
fabrication.
The types of deformation, soft matter, and robotic functions in representative studies to date are shown in Table 1.
Based on the table, bending is the most popular type of deformation being used for a large range of robotic functions,
from gripping to terrestrial and aquatic locomotion. Elongation/shortening has only been used for reaching and peristaltic locomotion, transformation for legged and crawling
locomotion and gripping, and flowing only for gripping.
Concerning materials to be used, polymers are by far the
most common category of soft matter used in robotic systems. Elastomers, including silicone-based elastomer and
polyurethane, are used for the largest number of functions.
Thermoplastics, such as EVA, polyester, polyethylene, and
polytetrafluoroethylene, are popular materials for hinged



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