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However, because of material and process limitations, FFF-printed soft robots often have a high effective stiffness and contain a large number of leaks, limiting their applications. We present an approach for the design and fabrication of soft, airtight pneumatic robotic devices using FFF to simultaneously print actuators with embedded fluidic control components. We demonstrated this approach by printing actuators an order of magnitude softer than those previously fabricated using FFF and capable of bending to form a complete circle. Similarly, we printed pneumatic valves that control a high-pressure airflow with low control pressure. Combining the actuators and valves, we demonstrated a monolithically printed electronics-free autonomous gripper. When connected to a constant supply of air pressure, the gripper autonomously detected and gripped an object and released the object when it detected a force due to the weight of the object acting perpendicular to the gripper. The entire fabrication process of the gripper required no posttreatment, postassembly, or repair of manufacturing defects, making this approach highly repeatable and accessible. Our proposed approach represents a step toward complex, customized robotic systems and components created at distributed fabricating facilities.<\/jats:p>","DOI":"10.1126\/scirobotics.adg3792","type":"journal-article","created":{"date-parts":[[2023,6,21]],"date-time":"2023-06-21T18:31:54Z","timestamp":1687372314000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":141,"title":["Desktop fabrication of monolithic soft robotic devices with embedded fluidic control circuits"],"prefix":"10.1126","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6174-7421","authenticated-orcid":true,"given":"Yichen","family":"Zhai","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Albert","family":"De Boer","sequence":"additional","affiliation":[{"name":"BASF 3D Printing Solutions B.V., Emmen, Netherlands."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiayao","family":"Yan","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Benjamin","family":"Shih","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-3993-5253","authenticated-orcid":true,"given":"Martin","family":"Faber","sequence":"additional","affiliation":[{"name":"BASF 3D Printing Solutions B.V., Emmen, Netherlands."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6362-5548","authenticated-orcid":true,"given":"Joshua","family":"Speros","sequence":"additional","affiliation":[{"name":"BASF Corporation California Research Alliance, Berkeley, CA 94720, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6608-9867","authenticated-orcid":true,"given":"Rohini","family":"Gupta","sequence":"additional","affiliation":[{"name":"BASF Corporation California Research Alliance, Berkeley, CA 94720, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7821-7777","authenticated-orcid":true,"given":"Michael T.","family":"Tolley","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0002-2"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.tibtech.2013.03.002"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0133"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/4\/1\/015006"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/8\/2\/026003"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0008"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay2627"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201006464"},{"key":"e_1_3_2_12_2","doi-asserted-by":"crossref","unstructured":"R. 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