#  Step 1: Prepare Elastomer 

 



 ##  

  expand\_more  

 
  

 

##  Measure 

Elastosil needs to be mixed in a 1:9 ratio (by weight) of Part A:Part B. In this example, we will prepare a total of 80g of Elastosil. For these molds, you will probably not need the full 80g; anywhere between 50g and 80g should be fine.

(Note: if you are using a different material, see the manufacturer instructions regarding the mixing ratio and adjust the following instructions accordingly)



 

Take the bottle of Elastosil Part A (red fluid) and shake vigorously. Measure out 8g in the cup, pouring slowly so you don’t overshoot.

If you do overshoot, pour some back into the bottle or add more part B later to compensate and maintain the 1:9 ratio.

 

 





 

 

 



 

 

 

Now add 72 g (8 g x 9) Elastosil Part B (white). Being accurate within 2-3 grams is okay. If you pour too much, you can remove some material with a spatula.

This should give you 80 g total material in the cup.

 

 





 

 

 



 

 

 

##  Mix 

Open the mixer and remove the cupholder/adapter. Weigh the combined cupholder+cup+elastomer assembly and adjust the mixer balance to match this weight, by spinning the dial. Place the cup in the mixer and run the mixing program.

 

 





 

 

 



 

 

 

 ![Image 42](/sites/g/files/omnuum4601/files/2024-11/image42.jpeg)

 



 

Remove the cup from the mixer and adapter. If the cup is stuck, you can pry it out with a screwdriver. The material should not have any streaks; if there are, mix again.

 

 





 

 

 



 

 

 

 ![Image 44](/sites/g/files/omnuum4601/files/2024-11/image44.jpeg)

 



 

##  Bibliography 

Ilievski et al. (2011) [Soft robotics for chemists.](/publications/soft-robotics-chemists)

Mosadegh et al. (2013) [Pneumatic Networks for Soft Robotics that Actuate Rapidly.](/publications/pneumatic-networks-soft-robotics-actuate-rapidly)

Ogura et al. (2009) [Micro pneumatic curling actuator: Nematode actuator.](/publications/micro-pneumatic-curling-actuator-nematode-actuator)

Polygerinos et al. (2013) [Towards a soft pneumatic glove for hand rehabilitation.](/publications/towards-soft-pneumatic-glove-hand-rehabilitation)

Shepherd et al. (2011) [Multigait soft robot.](/publications/multigait-soft-robot-0)

Sun et al. (2013) [Characterization of silicone rubber based soft pneumatic actuators.](/publications/characterization-silicone-rubber-based-soft-pneumatic-actuators)



 

##  Contributors 

Panagiotis Polygerinos

Bobak Mosadegh

Alexandre Campo