Soft Robotic Manufacturing: Bi-directional Bellow with Integrated Magnetic Dome Actuators

Full paper here: https://www.micro.seas.harvard.edu/_files/ugd/c720fc_547c8ce93a4a4a99b5c1b731fa3b5119.pdf Molding techniques: https://www.micro.seas.harvard.edu/injection-molding-soft-robotics