Soft Robotic Blocks: Introducing SoBL, a Fast-Build Modularized Design Block

This article presents a new, modularized design concept based on a bottom-up approach to assembly. This concept enables the structures and motions of soft robots to be rapidly revised to create new designs that can accomplish different tasks. We designed three basic types of pneumatically actuated soft modules, called soft robotic blocks (SoBL), that implement a single motion each (translation, bending, or twisting), which, when assembled, create structures capable of various motions. We introduce three types of connection mechanisms-screw thread, push fitting, and bistable junction-that can be used with any of the modules and that are designed to make for easy assembly and disassembly. Units were fabricated by multimaterial threedimensional (3-D) printing or silicone molding.