The following steps describe our methodology for preparing soft actuators.

Refer to the molds page for a list of known molds and quantities. Leave at least 20gr for gluing. Get both body and base layers ready for pouring before you start mixing.

Coating the molds in Vaseline would later help removing the cured silicone from the mold.

The base layer requires strain limiting materials. Choose the ones you will use and prepare them for placing over the uncured base silicone.

Refer to the silicones page to figure out the ratio working time of your silicone. If you don't have a centrifugal mixer, use wooden mixing sticks. Mix thoroughly for 3 minutes. Weak mixing may result in curing failure.

5 minuets should be enough to get rid of initial bubbles.

Pour gently and slowly. Allow the silicone to spread evenly and then pour more layers. For the base layer, pour only half of the silicone.

After 5 minutes lots of bubbles will rise to the surface. Pop them out with a pipette tip or other plastic instrument.

Refer to the strain limiting page for more info.

Refer to the page of your silicone and mold for the approximate time needed, Once the time is up, perform 2 checks:

1. Check that the silicone is hardened and doesn’t stick to your glove or feel gooey - If it's not ready, put it back in the oven for more time.
2. Check that the fill height didn’t drop more than 2mm - If it did, fill in extra silicone (Make a new cup, don't use an old one) and put back in he oven.