#  Detailed information 

 



 ##  

  expand\_more  

 
  

 

#### Materials

Materials to fabricate the segments were ordered at [McMASTER-CARR](http://www.mcmaster.com). To fabricate the inflatable segments we used:

Sort**(rubber tube)**

Super-soft latex rubber semi-clear tubing with a 1/4” inner diameter and 5/16” outer diameter

*\[product ID: 5234K98\]*

**(polyethylene tube)**

High-flex polyethylene-lined semi-clear tubing with a 5/16” inner diamater and 7/16” outer diamater

*\[product ID: 5155K28\]*

**(luer lock plug)** 

Lightweight quick-turn impact resistant tube couplings for 1/4” tube diameter

*\[product ID: 51525K36\]*

**(luer lock socket)**

Lightweight quick-turn impact resistant tube couplings for 1/4” tube diameter

*\[product ID: 51525K29\]*

**(glue)**

Brush-on instant-bonding adhesive, general purpose to fill gaps up to 0.01”

*\[product ID: 7729A24\]*





To connect the actuators to the pressure source, and to close the segments, we furthermore furthermore used:

Sort**(luer lock plug cap)**

Lightweight quick-turn impact resistant tube couplings

*\[product ID: 51525K38\]*

**(luer lock socket cap)**

Lightweight quick-turn impact resistant tube couplings

*\[product ID: 51525K37\]*

**(PVC tubing)**

Masterkleer PVC clear tubing with a 5/16” inner diameter and 1/2” outer diameter

*\[product ID: 5233K62\]*





Tools that we used:

Sort**(razor blade)**

Stainless steel razor blade

*\[product ID: 3962A1\]*





Note that these product ID codes were last updated June 2016.

#### Tool to fabricate braids

To fabricate the braided tubes, we made a tool using a 3D printer that guides a knife for cutting the slits. The tool consists of two parts, part 1 is placed inside the polyethylene tube, while part 2 is placed external and helps guide the cutting.

 ![fig5-Overvelde](/sites/g/files/omnuum4601/files/2024-11/fig5-Overvelde.jpg)

 

3D printing was done on a Stratasys Objet30, based on six sets of stl files for braid lengths ranging between 40-50mm. The files can be downloaded through [this](http://sandbox.softroboticstoolkit.com/files/srtsandbox/files/toolbraid_stl.zip) link.

If you want to change the model, make different lengths, or use different radii for the tubes, you can also start from the Solid Works Part that can be downloaded from [here](http://sandbox.softroboticstoolkit.com/files/srtsandbox/files/toolbraid_sldprt.zip).

#### Experimental setup

To measure the pressure-volume response of the segments and segmented actuators, we build an experimental setup containing the following components:

Sort**(syringe pump)**

[Standard infuse/Withdraw PHD Ultra, Harvard Apparatus](http://www.harvardapparatus.com/standard-infuse-withdraw-phd-ultra-syringe-pumps.html)

**(50-mL syringes)**

[1000 series, Hamilton Company](http://www.hamiltoncompany.com/products/syringes-and-needles/general-syringes/gastight-syringes/1000-series/50-mL-Model-1050-TLL-no-Flange-SYR-NDL-Sold-Separately)

**(pressure sensor)**

[MPX5100; Freescale Semiconductor 0-100kPa](http://www.digikey.nl/product-detail/en/freescale-semiconductor-nxp/MPX5100GP/MPX5100GP-ND/464061)

**(data acquisition system)**

[NI USB-6009, National Instruments](http://sine.ni.com/nips/cds/view/p/lang/nl/nid/201987)





### Bibliography

Overvelde et al. (2015) [Amplifying the response of soft actuators by harnessing snap-through instabilities](/publications/amplifying-response-soft-actuators-harnessing-snap-through-instabilities)

### Contributors

Johannes Overvelde