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Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including SparkFun circuits), without design simplifications. As demonstrations of the method\u2019s utility, we embedded highly stretchable (&gt;300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronic field to integrate state-of-the-art computational power into robust, stretchable systems during active use.<\/jats:p>","DOI":"10.1126\/scirobotics.adn6844","type":"journal-article","created":{"date-parts":[[2024,9,11]],"date-time":"2024-09-11T17:59:56Z","timestamp":1726077596000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":58,"title":["Stretchable Arduinos embedded in soft robots"],"prefix":"10.1126","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4858-6226","authenticated-orcid":true,"given":"Stephanie J.","family":"Woodman","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3943-6170","authenticated-orcid":true,"given":"Dylan S.","family":"Shah","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA."}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-3294-844X","authenticated-orcid":true,"given":"Melanie","family":"Landesberg","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2283-0673","authenticated-orcid":true,"given":"Anjali","family":"Agrawala","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2324-8124","authenticated-orcid":true,"given":"Rebecca","family":"Kramer-Bottiglio","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Materials Science, Yale University, 9 Hillhouse Ave., New Haven, CT 06511, USA."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","unstructured":"Arduino Team \u201cThe Arduino Forum is now completely renovated (and it\u2019s so nice) \u201d 13 April 2021; https:\/\/blog.arduino.cc\/2021\/04\/13\/the-arduino-forum-is-now-completely-renovated-and-its-so-nice\/."},{"key":"e_1_3_2_3_2","unstructured":"Arduino Uno R3; https:\/\/docs.arduino.cc\/hardware\/uno-rev3\/."},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0008"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0009"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0009"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0002"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2902019"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2204070"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-03623-y"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay2627"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1820672116"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature19100"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201700169"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1080\/14686996.2018.1549460"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.200801788"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0116-y"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-12870-7"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0024-1"},{"key":"e_1_3_2_21_2","doi-asserted-by":"crossref","unstructured":"R. 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