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This book is a product of necessity: as a teacher for a course on Soft Robotics, I have not been able to find a book that enables a novice in the field to quickly grasp the basics. When setting out to write the book, I sought a framework that helps bridge understanding between the highly diverse ideas that fall under the growing interdisciplinary field of Soft Robotics. For those less familiar with the terms, Soft Robots represent a class of machines that are made of materials as soft as living systems. The result of using these building blocks is unique capabilities that allow soft robots to operate in broad range of environments inaccessible to rigid robots, including unstructured environments (e. g., extreme environments, disaster zones), in the proximity of people (e. g., collaborative manufacturing spaces, home companions, and healthcare robotics), and beyond. With Soft Matter being a vast, interdisciplinary, and growing field, the machines made from these building blocks are becoming more complex in how they are made and how they are operated. The common theme for this book is energy: how is energy harvested, stored, transformed, and delivered by soft machines to enable robotic capabilities? By focusing on energy as a common language across different technologies, the book enables the reader to understand the fundamentals of each approach, and to compare robotic capabilities between them. As a result, this is not a book focused heavily on design of soft robots. For those interested in the topic of design, there are fantastic options available: one example is The Science of Soft Robots edited by Koichi Suzumori, Kenjiro Fukuda, Ryuma Niiyama, and Kohei Nakajima. Another example, more focused on Do-It-Yourself examples is Soft Robotics: A DIY Introduction to Squishy, Stretchy, and Flexible Robots by Matthew Borgati and Kari Love. Additionally, given the rapid pace in the field, this book does not seek to capture the latest research examples. Instead, the research examples shown capture the concepts in the clearest and most straightforward way possible. Aiming to relate to conventional rigid robotics, the book seeks to capture the critical building blocks: sensing, computation, energy storage, and actuation mechanisms. However, at the time of writing this book, the greatest challenge in soft robotics is still actuation. As soft robots aim to reproduce locomotion abilities of living systems, researchers in the field aim to find artificial replicas of natural muscles. As a design target, natural muscles show extreme performance with specific energy up to 40 J/kg and actuation frequency ranging from 0.1 to 300 Hz. Moreover, natural muscles are multifunctional systems, capable to serve as thermal generators (i. e., shivering), springs for impulsive movements, chemical storage, and even have embedded proprioception, or self-sensing. The structure of the book is as follows: the first chapter introduces soft matter, focusing primarily on elastomers. While foams, gels, colloids, and other soft matter systems have unique and interesting properties, the vast majority of work in Soft Robotics is aimed at elastomer development and processing to produce soft structures. The second chapter describes stretchable electronic conductors, which serve as the basis for deformable resistive and capacitive sensors, as well as building blocks for electro-mechanical actuators, stretchable energy storage, and harvesting systems. The following four chapters describe the four main actuation modalities: fluid powered systems, electro-mechanical transducers, thermally responsive materials, and magnetic actuators. For each chapter, the focus is on how energy is transduced from a specific energy source into a motion that can be used for robotically-relevant mechanical work. The seventh chapter describes adhesion mechanisms, specifically electro-adhesion and gecko-inspired adhesives, which are both relevant for robotics and rely on soft materials for operation. The final chapter summarizes more advanced topics that cover other robotic building blocks, but they are not as established as the previous chapters. Each chapter includes some fundamental physics, chemistry, or materials science that explains the device operation. For actuator and adhesion chapters, the focus is on the energy transduction mechanism. Different mechanisms are examined in parallel for a deeper understanding. For example, in thermo-mechanical systems the canonical example is shape memory alloys. These metals are not inherently soft, but can be fabricated into deformable structures that contract upon heating. These materials are compared with liquid crystal elastomers, which are soft materials that undergo a structural reorganization when heated. Lastly, a third example is described through phase change materials embedded in soft matrices. These materials typically incorporate a volatile compound that can become a gas at elevated temperature and a stable matrix that prevents the gas from escaping. Although the three systems rely on different phase changes, the fundamental energy transfer mechanism is the same, and the challenges of adding and removing heat rapidly in a robotic component are similar across the systems. Understanding these topics, as well as the overall actuator specific energy and thermo-mechanical energy efficiency, enable a student of Soft Robotics to improve upon the state of the art. For a bit of historical context, soft robotics is not a new field: patents that are nearly a century old describe soft rubber bladders being used as sphygmomanometers or blood pressure monitoring devices. McKibben air muscles, which are a type of soft actuator and will be discussed at length in Chapter 3, were invented in 1957 per the original patent. Additionally, Figure 1 shows an example from a 1969 patent describing a mechanism for retrieving torpedoes which relies on inflating hydraulic chambers (see the multiple valves at 36, 42, and 62). Knowledge of soft materials doing work as autonomous robotic systems has been established for decades. The recent explosion in popularity of Soft Robotics is due to the ease of prototyping, which enabled wide adoption of fabrication techniques and engaged a broad community of researchers, looking at both fundamentals in the materials, fabrication, and integration, as well as applications across the economy from collaborative manufacturing, to wearables, healthcare and beyond. This growing community is whom the book is addressed to. The goal of this book is to give the reader the fundamental understanding and practical tools to compare technologies across scales, operation regimes, and fabrication methods. The secondary goal of this book is to teach soft robotics in an interdisciplinary fashion. Soft Robotics now encompasses multiple engineering and scientific disciplines, and a common denominator is needed to orient a novice and empower them to push the boundaries of the field. I hope the structure of and examples in this book convince others to focus on energy and enable new discoveries and understanding. In terms of logistics, this book is aimed to aid an instructor teaching a typical semester long course. It can also be pared down to just a quarter course running over 10 weeks. The course can operate purely as lecture-based one, making use of videos from the reference papers to give the student a thorough understanding of the material. However, the best way to teach soft robotics is learning by doing, and therefore the book includes example laboratory sessions, most of which can be completed with food grade materials and inexpensive laboratory equipment. Example problems are given for homework or exam purposes and a project component is strongly encouraged anytime this course is taught. The book is primarily intended for early career graduate students, so first- or second-year PhD or master students, although the content is accessible to well-prepared advanced undergraduates.