  The design and fabrication of soft robot hands is still a time-consuming and
difficult process. Advances in rapid prototyping have accelerated the
fabrication process significantly while introducing new complexities into the
design process. In this work, we present an approach that utilizes novel
low-cost fabrication techniques in conjunction with design tools helping soft
hand designers to systematically take advantage of multi-material 3D printing
to create dexterous soft robotic hands. While very low cost and lightweight, we
show that generated designs are highly durable, surprisingly strong, and
capable of dexterous grasping.
