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The method uses a castable, light, and easily compressible open-cell polyurethane foam, producing a structure capable of large (~70% strain) deformations while requiring low torques to operate (<jats:italic>&lt;<\/jats:italic>0.2 N\u00b7m). The soft robot can change shape, by compressing and folding, allowing for complex locomotion with only two actuators. Achievable motions include forward locomotion at 13 mm\/s (4.3% of body length per second), turning at 9\u25e6\/s, and end-over-end flipping. Hard components, such as motors, are loosely sutured into cavities after molding. This reduces unwanted stiffening of the soft body. This work is the first demonstration of a soft open-cell foam robot locomoting with motor tendon actuators. The manufacturing method is rapid (~30 min per mold), inexpensive (under $3 per robot for the structural foam), and flexible, and will allow a variety of soft foam robotic devices to be produced.<\/jats:p>","DOI":"10.1017\/s0263574719000481","type":"journal-article","created":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T08:46:31Z","timestamp":1557909991000},"page":"88-105","source":"Crossref","is-referenced-by-count":27,"title":["Design and Manufacturing of Tendon-Driven Soft Foam 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