  Existing fluidic soft logic gates for the control of soft robots either rely
on extensive manual fabrication processes or expensive printing techniques. In
our work, we explore Fused Deposition Modeling for creating fully 3D printed
fluidic logic gates. We print a soft bistable valve from thermoplastic
polyurethane using a desktop FDM printer. We introduce a new printing nozzle
for extruding tubing. Our fabrication strategy reduces the production time of
soft bistable valves from 27 hours with replica molding to 3 hours with a FDM
printer. Our rapid and cost-effective fabrication process for fluidic logic
gates seeks to democratize fluidic circuitry for the control of soft robots.
