IP Library › Granted Patent US 12,441,040
Granted Patent B2
US 12,441,040 · App. 18/212,937 · Granted Oct 14, 2025

Bubble casting soft robotics

Inventors: Pierre-Thomas Brun (Princeton, NJ); Trevor J. Jones (Princeton, NJ); Etienne Jambon-Puillet (Paris, FR); Joel Marthelot (Marseilles, FR)
Assignee: The Trustees of Princeton University
B29C45/1704F15B15/08B29C2045/1719B29C2045/1724B29K2083/00B29L2031/748
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Quick Facts
Patent No.
US 12,441,040
App. No.
18/212,937
Granted
Oct 14, 2025
Kind
B2
Abstract

Disclosed herein is an all-in-one methodology for the fabrication and the programming of soft machines. Instead of relying on the assembly of individual parts, the disclosed approach harnesses interfacial flows in elastomers that progressively cure to robustly produce monolithic pneumatic actuators whose shape can easily be tailored to suit applications ranging from artificial muscles to grippers. Rationalized herein are the fluid mechanics at play in the assembly of the disclosed actuators and modeled herein are their subsequent morphing. This quantitative knowledge was leveraged to program these soft machines and produce complex functionalities, for example sequential motion obtained from a monotonic stimulus. It is expected that the flexibility, robustness, and predictive nature of the disclosed methodology will accelerate the proliferation of soft robotics by enabling the assembly of complex actuators, for example long, tortuous, or vascular structures, thereby paving the way towards new functionalities stemming from geometric and material nonlinearities.

Claims (17)

1. A method for assembly and programming of soft robots, comprising:

generating a flooded channel by injecting a liquid undergoing solidification into a channel or a channel network of a mold, wherein the channel network comprises a plurality of channels;

injecting a bubble into the flooded channel prior to solidification to create a cavity; and

forming a target component by allowing a portion of the liquid in an annulus deposited on the mold after bubble injection to drain downward and curing the liquid undergoing solidification, and rotating portions of the mold relative to each other around a gelation point of the liquid undergoing solidification.

2. The method according to claim 1 , further comprising creating the mold.

3. The method according to claim 1 , further comprising removing the target component from the mold.

4. The method according to claim 1 , further comprising inflating the target component.

5. The method according to claim 1 , wherein a pressure used to inflate the target component is 5 kPa-1000 kPa.

6. The method according to claim 1 , wherein a pressure used to inflate the target component is greater than 30 kPa.

7. The method according to claim 1 , wherein further comprising configuring the target component to generate a curling motion as pressure is applied.

8. The method according to claim 1 , wherein the target component is an actuator.

9. The method according to claim 1 , wherein the liquid undergoing solidification is a siloxane.

10. The method according to claim 9 , wherein the siloxane is vinyl polysiloxane.

11. The method according to claim 1 , further comprising tuning a void fraction of the target component by controlling a velocity of the bubble.

12. The method according to claim 1 , wherein the method is a batch process.

13. The method according to claim 1 , wherein the method is a continuous process.

14. The method according to claim 1 , wherein curing comprises heating or UV curing the liquid.

Assignments (2)
CONFIRMATORY LICENSE Recorded Apr 9, 2025
From: PRINCETON UNIVERSITY
To: NATIONAL SCIENCE FOUNDATION
Reel/Frame 070792/0775 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Sep 5, 2023
From: BRUN, PIERRE-THOMAS; JONES, TREVOR J; JAMBON-PUILLET, ETIENNE; MARTHELOT, JOEL
To: THE TRUSTEES OF PRINCETON UNIVERSITY
Reel/Frame 064796/0146 →
Continuity (2)
Provisional Application 63354538 · Jun 22, 2022
Related Publication 20230415390A1 · Dec 28, 2023
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