#  Fabrication 

 



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The fabrication procedure for the [single-chamber shell-reinforced actuators](/book/modeling-soft-pneumatic-actuators/fabrication/shell) and the [multi-chamber unconstrained actuators](/book/modeling-soft-pneumatic-actuators/fabrication/chamber) is discussed in detail in this section.



 

##  Bibliography 

Agarwal et al. (2016) [Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices](/publications/stretchable-materials-robust-soft-actuators-towards-assistive-wearable)

Moseley et al. (2015) [Modeling, Design, and Development of Soft Pneumatic Actuators with Finite Element Method](http://softroboticstoolkit.com/publications/modeling-design-and-development-soft-pneumatic-actuators-finite-element)

Sonar et al. (2016) [Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback](/publications/soft-pneumatic-actuator-skin-piezoelectric-sensors-vibrotactile-feedback)

Paez et al. (2016) [Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement](/publications/design-and-analysis-soft-pneumatic-actuator-origami-shell-reinforcement)

## Contributors

[Dr. Gunjan Agarwal](http://agarwalgmit.wixsite.com/gunjan)

Dr. Philip Moseley

Dr. Juan Florez

Harshal Sonar

Prof. William Curtin

Prof. Jamie Paik