soft-robotics:textile-actuator-recipe []

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====== Textile actuator recipe ======


Based on [[https://softroboticstoolkit.com/textile-actuators|this guide]], using [[soft-robotics:thermoplastic-elastomers:vreeberg|Vreeberg's TPE film]], and [[soft-robotics:heat-sealers:pfs-300|PFS-300]].

===== Notes =====

  * Using length the same as the fabric, but 30-40% wider. Make the template also longer to account for sealing space.
  * When following the guide, I always got a tear in the diagonal seal coming from the fold of the silicone. The workaround is to create a vertical seal in **both sides** and not just on one, then the diagonal seal holds. This means that the template should be a bit wider to account for the spacing of the vertical seal.


===== About length =====

{{:soft-robotics:photo_2021-08-19_13-41-43.jpg?200 | }}

I tried to cut one pocket and make a small balloon for this puppet. I used the 25cm gathered fabric type II (Emmi's marking). The stretch was just not enough to get a significant bend. I pumped more and more pressure and eventually the balloon managed to rip the seam!

I could still try one of the more stretchy or longer gathered pockets to see if they are better, but for now I am OK with using the bigger squirrel puppet and longer pocket.

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