Miniaturized Untethered Soft Robots Using Hydrogel-based Soft Voxel Actuators*

Current soft actuators rely on additional hardware such as pumps, high voltage supplies, light generation sources and magnetic field generators for their operation. These components resist miniaturization and embedding them into small-scale soft robots would be challenging. This limits their mobile applications where the entire system needs to be untethered especially in hyper-redundant robots whe...