A) Biodegradable, edible, morphing hydraulic actuators are fabricated using a biologically-sourced ink using FRESH printing. B,C) Individual actuators have been characterized using motion tracking, force, and pressure measurements. Scale bar: 5 mm. D) This approach can be used to fabricate small-scale soft robotic systems capable of delicate object handling, such as manipulating the sea grape shown here using an alginate-based FRESH-printed robot gripper. Scale bar: 5 mm. E) Our biologically-sourced hydraulic actuators are biodegradable and safely edible by marine organisms and can be safely digested (see inset). F) Comparison of the weight lifting ratio and degradation time between FRESH-printed grippers in …
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