#  Bill of Materials 

 



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Materials Used for Soft Robotic Gripper

- We used Ecoflex 00-30 (one "trial kit" is enough to make five to ten robots depending on size). You can also use materials like Elastosil M4601 A/B. We asked the manufacturer to provide samples as we did not need a huge quantity.
- 1/16 inch ID, 1/8 inch OD polyethylene tubing (1 foot). Part number 5181K15 at [McMaster-Carr](http://www.mcmaster.com/#5181k15/=org477).
- 1/8 inch ID, 1/4; inch OD opaque silicone rubber tubing (1 inch). Part number 5236K83 at [McMaster-Carr](http://www.mcmaster.com/#5236k83/=org3xo).
- Squeeze bulb or bicycle pump as air source
- 3D-printed mold: 3D models are provided in stl files from the website - some of them have to be modified for the application
- Other household items used were tray, scissors, plastic cups, Popsicle sticks, disposable gloves and paper towels.

Materials Used for Sensor Circuits

- Arduino Uno Microprocessor
- Sparkfun Breadboard
- Sparkfun Jumper Wires
- Tekscan A401 Pressure Sensor
- TMP 36 Temperature Sensor
- Flex Sensor 2.2"
- 10K Ohm Resistor
- Computer with Arduino Software (Can be Mac or PC)