Introduction: In recent years, soft robots made of soft, highly elastic materials have been attracting attention as an alternative to conventional robots made of hard rigid bodies such as metal. Soft robots are expected to play an active role in fields where there are many opportunities to interact with humans, such as collaborative work, nursing care, and welfare. Soft robots are often made of polymers such as rubber, gel, and plastic. By controlling the properties of flexible materials, such as large elastic deformation, elastic modulus, and viscoelasticity, it is possible to design and develop functionalities that take advantage of the softness, which has not been possible with conventional robot technology. In this study, we investigated how to control the physical properties of soft matter by compositing the 3D printed lattice structure of soft matter with silicone rubber. Experiments: 3D model data of the lattice, called “igeta structure” (beam and girder structure) was designed using OpenSCAD, script-based 3D CAD software. Five 3D models of lattice structures with different crossing angles were created and they were 3D printed with an FDM 3D printer using Thermoplastic polyurethane (TPU) material. The printed lattice models were placed in a 20mm cubic mold, and silicone rubber (Ecoflex00-30) was poured into the mold and cured. Compression tests in three orthogonal axes (X, Y, and Z) were performed on these five models using an ORIENTEC STA-1150 universal testing machine. Results and discussion: Figure 1 shows the Young’s modulus of igeta structure and silicone composite models calculated from compression tests. Anisotropy of Young’s modulus varied depending on the crossing angles of the lattice structure. In particular, the Young's modulus in the x-axis is remarkably changed. These results confirm that it is possible to change the anisotropy of the elastic material depending on the shape of the lattice structure. Its will be useful for designing soft robots and confirming their functions. Figure 1
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