Please go check Soft robotics toolkit website to learn how it actually soft grippers worked.

First of all, in case of gripper you have to 3D printed your gripper mold.

For more flexible gripper you can use the Eco-Flex material.

For more rigid movent you can use Neukasil.

For encloser, we will produce thin skins and will use again silicon as a mortar to meld these the two structure. Silicon can always weld with each other under every process.

Pour carefully material to put colour pigments but even thought ı put into the oven it did not dry with silicon.

Put into oven for 15 min. in 70 degree

After 15 min. Take your parts carefully and weld skin and your gripper together with using silicon again. Unfournetly, ı could not obtain any successful gripper because of air leaks.

I decided to design tentacles which give air will rise up. First I designed in the 3Ds max and edited in the rhino.

For create mold, ı used thinkercad because this online software really useful for 3D printing.

Then I used foamlab again to see my tentacles. But my material was too fragile for the printer and craked.

These are the documents what ı did in a month. Unfortunately, my heatable vinyl was out-dated. I could not finish and see the results properly.

here is the well-oriented document about printables.

http://wiki.textile-academy.org/fabricademy2017/students/under_my_skin

I used cartoon for green lines represent in the image and baking paper represent in the image as red lines.

My First attempt did not work because of my heat transfer vinyl was outdated. So tried again.

I just wanted to see what are the possibilities when we subtract more materials what will happen when we give air.

You can see in the video how the behavior is changing on printflatables when we cut some connections.