A Review of 3D-Printable Soft Pneumatic Actuators and Sensors: Research Challenges and Opportunities

The soft robotics field is changing the way people think, build, interact, and most importantly perceive robots. Robots have long been perceived as machines made of metals that their sole purpose is to perform repetitive tasks in isolated environments. Herein, the recently developed soft pneumatic actuators and sensors that are fabricated using additive manufacturing techniques and in which the fluid used for actuation and sensing is mainly or solely air are focused upon. This review presents the soft pneumatic actuators and sensors in terms of their types, materials, fabrication techniques, capabilities, and applications. Also, it offers a discussion on the presented 3D-printable soft actuators and sensors along with a list of what is needed to develop robust and functional soft actuators and sensors for soft robots and how such robots will evolve in the future. This article is expected to stimulate more interaction between materials scientists and robotic researchers to synthesize soft and functional materials that meet application, function, and user requirements, in a way to implement a top-down approach to shorten the path between science and application of soft smart materials and their use in establishing functional soft robotic systems.