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For example, reptiles, crustaceans, and insects amputate their own appendages in response to threats. Temporary fusion between individuals enables collective behaviors, such as in ants that temporarily fuse to build bridges. The concept of morphological editing often involves the addition and subtraction of mass and can be linked to modular robotics, wherein synthetic body morphology may be revised by rearranging parts. This work describes a reversible cohesive interface made of thermoplastic elastomer that allows for strong attachment and easy detachment of distributed soft robot modules without direct human handling. The reversible joint boasts a modulus similar to materials commonly used in soft robotics, and can thus be distributed throughout soft robot bodies without introducing mechanical incongruities. To demonstrate utility, the reversible joint is implemented in two embodiments: a soft quadruped robot that self\u2010amputates a limb when stuck, and a cluster of three soft\u2010crawling robots that fuse to cross a land gap. This work points toward future robots capable of radical shape\u2010shifting via changes in mass through autotomy and interfusion, as well as highlights the crucial role that interfacial stiffness change plays in autotomizable biological and artificial systems.<\/jats:p>","DOI":"10.1002\/adma.202400241","type":"journal-article","created":{"date-parts":[[2024,5,23]],"date-time":"2024-05-23T08:15:15Z","timestamp":1716452115000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Self\u2010Amputating and Interfusing Machines"],"prefix":"10.1002","volume":"36","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2721-6832","authenticated-orcid":false,"given":"Bilige","family":"Yang","sequence":"first","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University 9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4371-4516","authenticated-orcid":false,"given":"Amir Mohammadi","family":"Nasab","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University 9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4858-6226","authenticated-orcid":false,"given":"Stephanie J.","family":"Woodman","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University 9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eugene","family":"Thomas","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University 9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liana G.","family":"Tilton","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University 9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael","family":"Levin","sequence":"additional","affiliation":[{"name":"Department of Biology Allen Discovery Center at Tufts University 200 Boston Ave. Suite 4604 Medford MA 02155 USA"},{"name":"Wyss Institute for Biologically Inspired Engineering Harvard University 3 Blackfan Cir Boston MA 02115 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2324-8124","authenticated-orcid":false,"given":"Rebecca","family":"Kramer\u2010Bottiglio","sequence":"additional","affiliation":[{"name":"School of Engineering &amp; Applied Science Yale University 9 Hillhouse Avenue New Haven CT 06511 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,6,7]]},"reference":[{"key":"e_1_2_8_1_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202002882"},{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.2307\/3545669"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1080\/10236249909379034"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/ar.20541"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1093\/beheco\/arl010"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1016658108"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/jez.a.346"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1093\/beheco\/arx063"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2018.0642"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00462870"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1038\/nmat4450"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-03380-y"},{"key":"e_1_2_8_13_1","doi-asserted-by":"crossref","unstructured":"Q. 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