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affinity on the boundary interface performance. Addit. Manuf. 23, 45–52 (2018). https://doi.
org/10.1016/j.addma.2018.06.027
Muth, J.T., et al.: Embedded 3D printing of strain sensors within highly stretchable elastomers.
Adv. Mater. (Deerfield Beach Fla.) 26(36), 6307–6312 (2014). https://doi.org/10.1002/adma.
201400334
Rus, D., Tolley, M.T.: Design, fabrication and control of soft robots. Nature 521(7553), 467–475
(2015). https://doi.org/10.1038/nature14543
Slocum, A.: Kinematic couplings: A review of design principles and applications. Int. J. Mach.
Tools Manuf. 50(4), 310–327 (2015). https://doi.org/10.1016/j.ijmachtools.2009.10.006
Trivedi, D., Rahn, C.D., Kier, W.M., Walker, I.D.: Soft robotics: biological inspiration, state of the
art, and future research. Appl. Bion. Biomech. 5(3), 99–117 (2008). https://doi.org/10.1080/
11762320802557865
Zolfagharian, A., Kouzani, A.Z., Khoo, S.Y., Moghadam, A.A.A., Gibson, I., Kaynak, A.: Evolution of 3D printed soft actuators. Sens. Actuat.: Phys. 250, 258–272 (2016). https://doi.org/
10.1016/j.sna.2016.09.028