  Soft robotic grasping has rapidly spread through the academic robotics
community in recent years and pushed into industrial applications. At the same
time, multimaterial 3D printing has become widely available, enabling the
monolithic manufacture of devices containing rigid and elastic sections. We
propose a novel design technique that leverages both technologies and can
automatically design bespoke soft robotic grippers for fruit-picking and
similar applications. We demonstrate the novel topology optimisation
formulation that generates multi-material soft grippers, can solve internal and
external pressure boundaries, and investigate methods to produce air-tight
designs. Compared to existing methods, it vastly expands the searchable design
space while increasing simulation accuracy.
